Concrete dam underwater crack repairing and leaking stoppage equipment

Abstract

The invention relates to the technical field of underwater operation equipment, solves the problems that existing dam underwater crack repairing depends on divers or complex equipment, the automation degree is low, the construction period is long, the comprehensive cost is high and the adaptability is poor, and particularly relates to concrete dam underwater crack repairing and leaking stoppage equipment which comprises a robot for underwater cruise, and the robot comprises a machine body; the cruise vision module comprises a foresight navigation lens group, a look-around lens group, a bottom wide-angle lens, an active illumination system, an obstacle avoidance sonar system and a topographic mapping sonar; the crack detection module comprises a crack scanning ultrasonic detector, a high-resolution strip-shaped scanning lens group, a laser ray scanner, a multispectral imager, a laser distance measuring sensor, a water flow sensor and an attitude sensor, the crack repairing module comprises two groups of mechanical arms for punching and grouting, and the central controller controls the robot to execute. Crack filling, structure bonding recovery and long-acting sealing are achieved, and meanwhile the construction difficulty and the comprehensive cost are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operation equipment, in particular to underwater crack repair and leak-proofing equipment for concrete dams. Background Art

[0002] As a key water conservancy hub, concrete dams are subject to a variety of complex loads and environmental influences, including long-term water pressure, temperature fluctuations, foundation settlement, and freeze-thaw cycles. Consequently, cracks are inevitable. The presence of cracks, especially penetrating or deep cracks, poses a serious threat to the safety and durability of the dam. High-speed or sand-laden water flowing through cracks can erode the concrete aggregate and cement paste (contact scour or piping), causing crack expansion and even hollowing out of the dam. Therefore, timely detection and effective repair of concrete dam cracks, especially those located in underwater areas where direct access is difficult, is a key maintenance measure to ensure the long-term safe and stable operation of the dam.

[0003] Currently, the following methods are mainly used to repair underwater cracks in concrete dams, but all of them have significant technical bottlenecks and operational difficulties:

[0004] A temporary cofferdam is built around the crack area, and the accumulated water in the cofferdam is drained to create a dry land environment for conventional repairs. This is costly and time-consuming. Divers install grouting nozzles on the crack surface and inject underwater curing epoxy resin or other chemical slurries into the cracks for filling and bonding. Relying on highly skilled divers to locate, install grouting nozzles, and control grouting pressure and flow is very difficult and inefficient in an underwater environment. It has high requirements for slurry particle size and fluidity, and is difficult to effectively inject into small micro-cracks. Underwater repairs are not adaptable to crack width, depth, direction, location (such as vertical surface, inclined surface, deep water area, high flow rate area) and different dam structures. Summary of the Invention

[0005] The present invention provides a device for repairing and plugging underwater cracks in concrete dams to solve the problems that the existing dam underwater crack repair relies on divers or complex equipment, has a low degree of automation, a long construction period, a high overall cost, and poor adaptability to underwater repairs in different environments.

[0006] To solve the above technical problems, the present invention provides a technical solution: an underwater crack repair and plugging device for concrete dams, comprising an underwater cruising robot, the robot comprising a body, a cruising vision module, a crack detection module, a crack repair module, and a central controller;

[0007] Cylinders are symmetrically provided on both sides of the bottom of the body, and the cylinders are fixed to the top of the body through a number of outward-expanding arc-shaped plates. A storage cavity is provided in the cylinders, and a flexible adsorption mechanism is provided under the cylinders. A slurry pump is provided in the body, and the slurry pump is connected to the storage cavity through a pipeline.

[0008] The rear of the robot is equipped with a propeller for lifting and lowering, and thrusters are symmetrically arranged on both sides of the body. In front of the thrusters are propellers with adjustable angles, which are used to control the robot's movement underwater. The robot's core computing unit is integrated with the central controller to run the robot's control algorithms and mission software.

[0009] Cruise vision module includes:

[0010] The forward-looking navigation lens group is used to obtain underwater environment image information in the direction of the robot's movement;

[0011] A surround view lens group is arranged circumferentially on the robot body to obtain panoramic environment image information around the robot;

[0012] The bottom wide-angle lens is located at the bottom of the robot body and is used to obtain image information of the dam surface and near-field environment below the robot;

[0013] Active lighting system, which is installed on the fuselage and works together with the forward navigation lens group, the surround view lens group, and the bottom wide-angle lens to provide fill light when the underwater light is insufficient;

[0014] The obstacle avoidance sonar system is installed on the robot body and is used to detect the distance and direction of obstacles around the robot;

[0015] Topographic mapping sonar, installed at the bottom of the robot, is used to scan and obtain three-dimensional terrain data of the dam surface below the robot;

[0016] The crack detection module includes:

[0017] The crack scanning ultrasonic detector is installed at the bottom of the machine body and is used to transmit ultrasonic waves to the surface of the dam body and receive echoes to detect the depth of cracks, internal structure and internal defects;

[0018] A high-resolution strip scanning lens group is installed at the bottom of the machine body, which is used to continuously scan along the extension direction of the crack to obtain high-precision two-dimensional image information of the crack surface;

[0019] A laser line scanner is installed at the bottom of the machine body to project a laser line to the crack area and form an image, thereby obtaining the three-dimensional contour and size data of the crack and generating a point cloud model of the crack.

[0020] A multispectral imager is installed at the bottom of the machine body to obtain multispectral image information of the crack and surrounding area, and analyze the surface attachments, leakage traces and material status of the crack;

[0021] A laser ranging sensor is installed at the bottom of the robot body near the crack detection area to accurately measure the distance between the robot body and the detection point on the dam surface;

[0022] A water flow sensor is installed on the robot body to detect the speed and direction of water flow at the robot's location;

[0023] The attitude sensor is installed in the body and is used to detect the pitch, roll and yaw angles of the robot;

[0024] Among them, the bottom wide-angle lens, terrain mapping sonar and crack detection module are all integrated into the bottom of the fuselage;

[0025] The crack repair module includes two sets of mechanical arms, each of which is provided with a grouting nozzle and a puncher at the front end. The mechanical arms are installed on the lower side of the front of the machine body through an adjustment mechanism.

[0026] The central controller is electrically connected to the cruise vision module, crack detection module, crack repair module, slurry pump, negative pressure machine, flexible adsorption mechanism, robotic arm and adjustment mechanism, and is used to receive and process sensor data from each module, control the robot's underwater movement, adsorption positioning, crack identification and positioning, and repair operation path planning and execution.

[0027] Furthermore, the flexible adsorption mechanism includes a skirt located at the lower edge of the cylinder, the skirt is a multi-layer pleated structure, an emptying hole is provided under the cylinder, a negative pressure machine is provided in the body, the negative pressure machine is connected to the emptying hole through a connecting pipe, and a pressure relief valve is provided on the connecting pipe.

[0028] Furthermore, the robotic arm includes a rotatable mounting base, a first arm, a second arm, a third arm, and a mounting head. The first arm and the mounting base are hinged and a hydraulic cylinder is provided for angle adjustment. Rotating joints are provided between the first arm, the second arm, and the third arm. The rotating joints are driven by a motor. The mounting head is fixed at the front end of the three-section arm for installing a grouting nozzle or a punch.

[0029] Furthermore, the adjustment mechanism includes a guide groove, a guide block is slidably provided in the guide groove, a waterproof electric push rod is provided under the body, and the front end of the electric push rod is fixedly connected to the guide block.

[0030] Furthermore, the image information obtained by the forward navigation lens group, surround view lens group, and bottom wide-angle lens of the cruise vision module is integrated with the data obtained by the obstacle avoidance sonar system and terrain mapping sonar to build a three-dimensional map of the robot's surrounding environment, real-time positioning and navigation, and obstacle avoidance path planning.

[0031] Furthermore, the two-dimensional image information obtained by the high-resolution strip scanning lens group of the crack detection module, the three-dimensional contour and size data obtained by the laser line scanner, the multispectral image information obtained by the multispectral imager, the depth and internal structure data obtained by the crack scanning ultrasonic detector, and the distance data obtained by the laser ranging sensor are fused and processed to accurately identify the crack position, direction, length, width, depth, internal defects, and surface state, and generate a digital model of the crack.

[0032] Furthermore, the central controller plans the motion trajectory and operation path of the robotic arm in the crack repair module based on the digital crack model generated by the crack detection module, the distance data of the laser ranging sensor, and the posture data of the posture sensor, and controls the robotic arm to drive the grouting nozzle or punch to accurately reach the predetermined repair position.

[0033] The advantages of the present invention are: under the condition of no drainage or only simple local treatment, it can effectively overcome the adverse effects of the underwater environment, achieve crack filling, structural bonding recovery and long-term sealing, and reduce the construction difficulty and overall cost. The specific advantages are as follows:

[0034] 1. Full process automation breaks through the limitations of manual diving operations. It integrates cruise positioning, crack scanning, and precise repair functions. A single device can independently complete the entire process, replacing divers in high-risk underwater environments.

[0035] 2. Adaptive operation to cope with complex underwater working conditions. The flexible skirt + vacuum adsorption design allows stable stay on the sloped dam surface. The optical ranging + attitude sensor provides real-time feedback data, and the robotic arm automatically corrects the posture deviation caused by water impact.

[0036] 3. Precise grouting control improves repair quality. The adaptive grouting algorithm based on the three-dimensional model of the crack has a high slurry filling rate. Ultrasonic guided waves monitor the flow state of the slurry inside the crack to ensure complete filling of the crack. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the present invention.

[0038] Figure 2 This is a schematic diagram of the central controller connection principle of the present invention;

[0039] Figure 3 It is a schematic diagram of the structure of the mechanical arm of the present invention;

[0040] Figure 4 It is a bottom view of the present invention;

[0041] Figure 5 It is a schematic diagram of the internal structure of the body of the present invention;

[0042] Figure 6It is a schematic diagram of the structural distribution of the bottom detection components of the present invention.

[0043] As shown in the figure: 1. Machine body; 2. Central controller; 3. Cylinder; 4. Curved plate; 5. Storage chamber; 6. Slurry pump; 7. Forward navigation lens group; 8. Surround view lens group; 9. Bottom wide-angle lens; 10. Obstacle avoidance sonar system; 11. Topographic mapping sonar; 12. Crack scanning ultrasonic detector; 13. High-resolution strip scanning lens group; 14. Laser line scanner; 15. Multispectral imager; 16. Laser ranging sensor; 17. Robotic arm; 18. Grouting nozzle; 19. Punch; 21. Skirt; 22. Emptying hole; 23. Negative pressure machine; 24. Connecting pipe; 25. Pressure relief valve; 26. Mounting seat; 27. First arm; 28. Second arm; 29. ​​Third arm; 30. Mounting head; 31. Rotating joint; 32. Guide groove; 33. Guide block; 34. Waterproof electric push rod. DETAILED DESCRIPTION

[0044] The present invention will be described in further detail below with reference to the accompanying drawings.

[0045] Combined with attachment Figure 1-6 , a concrete dam underwater crack repair and plugging device, comprising:

[0046] The body 1 of the underwater robot adopts a streamlined titanium alloy shell, which integrates a central controller 2, a slurry pump 6, a negative pressure machine 23 and a posture sensor.

[0047] Cylinders 3 are symmetrically installed on both sides of the bottom of the body 1 and are reinforced and connected by arc plates 4. The interior of the cylinder 3 is a storage chamber 5 for loading quick-setting repair slurry.

[0048] Flexible adsorption mechanism: A multi-layer pleated silicone skirt 21 is provided at the bottom of the cylinder 3, and vacuum adsorption is formed by suction through the emptying hole 22 by the negative pressure machine 23, and the pressure relief valve 25 is used to quickly release the adsorption.

[0049] Cruise vision module:

[0050] Forward navigation lens group 7: wide-angle lens, covering a 120° field of view, used to identify obstacles and crack areas ahead.

[0051] Surround view lens group 8: 4 groups of 200° fisheye lenses are arranged circumferentially and stitched together to generate a 360° panoramic image.

[0052] Bottom wide-angle lens 9: shoots the dam surface vertically downward with a resolution of 4K.

[0053] Active lighting system: 8-group LED array, adaptively adjusts brightness to match underwater visibility.

[0054] Obstacle avoidance sonar: detection radius 15 meters, accuracy ±2cm.

[0055] Topographic mapping sonar 11: Scans and generates a 3D point cloud model of the dam with an accuracy of 0.5cm.

[0056] Crack detection module:

[0057] Crack scanning ultrasonic detector 12: emits 5MHz ultrasonic waves to detect the crack depth and internal cavity.

[0058] High-resolution strip scanning lens: Linear array CMOS sensor, scans along the crack axis to generate a two-dimensional image with 0.5mm accuracy.

[0059] Laser line scanner 14: Projects 650nm laser line to construct the three-dimensional contour of the crack (accuracy ±0.5mm).

[0060] Multispectral imager 15: collects visible light / near-infrared band images to identify leakage precipitates (such as calcium deposits).

[0061] Laser ranging sensor 16: measures the distance between the machine body 1 and the dam surface in real time (accuracy ±1mm) to compensate for posture fluctuations.

[0062] Water flow / attitude sensor: monitors water flow rate (range 0-3m / s) and robot pitch / roll angle.

[0063] Crack repair module:

[0064] Dual Robotic Arm 17 System:

[0065] The left arm is provided with a grouting nozzle 18, which is connected to a slurry pump 6 to output repair slurry (such as epoxy resin).

[0066] The right arm is provided with a punch 19 which uses a diamond drill bit for drilling holes at the edge of the crack and burying the grouting pipe.

[0067] Mechanical arm 17 structure: multi-degree-of-freedom hydraulic drive (mounting seat 26 + three-section arm 29).

[0068] Adjustment mechanism: The electric push rod drives the guide block 33 to slide in the guide groove 32 to adjust the operating range of the robot arm 17 laterally.

[0069] The central controller 2 has a built-in multi-core processor that runs the following algorithms:

[0070] SLAM (Simultaneous Localization and Mapping) fuses sonar / visual data to generate underwater environment maps;

[0071] Crack feature extraction algorithm (based on deep learning to identify crack types and damage levels);

[0072] Robotic arm 17 motion planning (inverse dynamics solution + collision detection).

[0073] In a specific implementation case, in Step 1, cruising and crack location, the robot cruises along the dam surface, generates a three-dimensional model of the dam surface through the topographic mapping sonar 11, identifies suspected crack areas through the bottom wide-angle lens 9, activates the laser line scanner 14 to confirm the crack location, and uses the multispectral imager 15 to analyze the surface attachments of the cracks and mark the leakage active areas;

[0074] Step 2: Precise adsorption and detection. After reaching the target crack, the negative pressure machine 23 is activated, and the skirt 21 is attached to the dam surface to form an adsorption fixation. The ultrasonic detector scans the internal structure of the crack, and the strip scanning lens obtains the surface microscopic image. All data are fused to generate a digital model of the crack (including length, depth, direction and internal defect distribution);

[0075] Step 3: Automatic repair operation. The central controller 2 plans the repair path. The right-arm punching machine 19 drills holes (5-8 cm deep) at intervals of 10-20 cm on both sides of the crack. The left-arm grouting nozzle 18 inserts the drilled holes and injects slurry. The slurry discharges the water flow from the crack and fills the crack. Repeat Step 2 and Step 3 to perform multi-point drilling and grouting operations. Real-time monitoring: The laser ranging sensor 16 feedbacks the distance data, and the robot arm 17 dynamically adjusts its posture to compensate for water flow disturbances.

[0076] Step 4: Quality verification and evacuation. After each repair, the crack area is rescanned, ultrasonic testing is used to verify the slurry filling density, the pressure relief valve 25 releases the vacuum, and the robot leaves the dam surface and continues to cruise.

[0077] The present invention and its embodiments are described above. This description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. A device for repairing underwater cracks in concrete dams, characterized by: A robot for underwater cruising is provided, the robot comprising a body (1), a cruising vision module, a crack detection module, a crack repair module and a central controller (2); Cylinders (3) are symmetrically provided on both sides below the machine body (1), and the cylinders (3) are fixed to the machine body (1) via a plurality of outwardly expanding arc-shaped plates (4). A storage cavity (5) is provided inside the cylinder (3), and a flexible adsorption mechanism is provided below the cylinder (3). A slurry pump (6) is provided inside the machine body (1), and the slurry pump (6) is connected to the storage cavity (5) via a pipeline. The cruise vision module comprises: a forward navigation lens group (7) for acquiring underwater environment image information in the robot's forward direction; a surround view lens group (8) circumferentially arranged on the body (1) for acquiring panoramic environment image information around the robot; a bottom wide-angle lens (9) arranged at the bottom of the body (1) for acquiring image information of the dam surface below the robot and the near-field environment; an active lighting system arranged on the body (1) and working in conjunction with the forward navigation lens group (7), the surround view lens group (8) and the bottom wide-angle lens (9) for providing supplementary light when the underwater light is insufficient; an obstacle avoidance sonar system (10) arranged on the body (1) for detecting the distance and direction of obstacles around the robot; and a topographic mapping sonar (11) arranged at the bottom of the body (1) for scanning and acquiring three-dimensional topographic data of the dam surface below the robot. The crack detection module comprises: a crack scanning ultrasonic detector (12), which is arranged at the bottom of the body (1) and is used to transmit ultrasonic waves to the surface of the dam body and receive echoes to detect the depth, internal structure and internal defects of the crack; A high-resolution strip scanning lens group (13) is provided at the bottom of the machine body (1) and is used for continuously scanning along the extension direction of the crack to obtain high-precision two-dimensional image information of the crack surface; a laser line scanner (14) is provided at the bottom of the machine body (1) and is used for projecting a laser line to the crack area and imaging it, obtaining three-dimensional contour and size data of the crack and generating a point cloud model of the crack; a multispectral imager (15 ... laser line scanner (15) is provided at the bottom of the machine body (1) and is used for projecting a laser line to the crack area and imaging it, obtaining three-dimensional contour and size data of the crack and generating a point cloud model of the crack; a laser line scanner (15) is provided at the bottom of the It is used to obtain multi-spectral image information of the crack and the surrounding area, and analyze the surface attachments, leakage traces and material status of the crack; the laser distance sensor (16) is set at the bottom of the body (1) near the crack detection area, It is used to accurately measure the distance between the robot body (1) and the detection point on the dam body surface; the water flow sensor is set on the body (1) and is used to detect the water flow speed and direction at the position of the robot; the posture sensor, It is arranged in the body (1) and is used to detect the pitch, roll and yaw angles of the robot; The crack repair module comprises two sets of mechanical arms (17), the front ends of the mechanical arms (17) are respectively provided with a grouting nozzle (18) and a punch (19), and the mechanical arms (17) are installed on the lower front side of the machine body (1) through an adjustment mechanism; The central controller (2) is electrically connected to the cruise vision module, the crack detection module, the crack repair module, the slurry pump (6), the flexible adsorption mechanism, the robotic arm (17) and the adjustment mechanism, and is used to receive and process sensor data from each module, control the robot's underwater movement, adsorption positioning, crack identification and positioning, and repair operation path planning and execution.

2. The underwater crack repair and leak-proofing equipment for concrete dams according to claim 1, characterized in that: The flexible adsorption mechanism comprises a skirt (21) located at the lower edge of the cylinder (3), wherein the skirt (21) is a multi-layer pleated structure. An emptying hole (22) is provided below the cylinder (3). A negative pressure machine (23) is provided in the machine body (1), and the negative pressure machine (23) is connected to the emptying hole (22) through a connecting pipe (24). A pressure relief valve (25) is provided on the connecting pipe (24).

3. The underwater crack repair and leak-proofing equipment for concrete dams according to claim 1, characterized in that: The mechanical arm (17) includes a rotatable mounting base (26), a first arm (27), a second arm (28), a third arm (29), and a mounting head (30). The first arm (27) and the mounting base (26) are hinged and provided with a hydraulic cylinder for angle adjustment. A rotating joint (31) is provided between the first arm (27), the second arm (28), and the third arm (29). The rotating joint (31) is driven by a motor. The mounting head (30) is fixed to the front end of the third arm (29) for mounting a grouting nozzle (18) or a punch (19).

4. The underwater crack repair and leak-proofing equipment for concrete dams according to claim 1, characterized in that: The regulating mechanism comprises a guide groove (32), a guide block (33) is slidably provided in the guide groove (32), a waterproof electric push rod (34) is provided below the machine body (1), and the front end of the electric push rod is fixedly connected to the guide block (33).

5. The underwater crack repair and leak-proofing equipment for concrete dams according to claim 1, characterized in that: Image information acquired by the forward navigation lens group (7), the surround view lens group (8), and the bottom wide-angle lens (9) of the cruise vision module is fused with data acquired by the obstacle avoidance sonar system (10) and the terrain mapping sonar (11) to construct a three-dimensional map of the robot's surrounding environment, perform real-time positioning and navigation, and plan obstacle avoidance paths.

6. The underwater crack repair and leak-proofing equipment for concrete dams according to claim 1, characterized in that: The two-dimensional image information acquired by the high-resolution strip scanning lens group (13) of the crack detection module, the three-dimensional profile and size data acquired by the laser line scanner (14), the multispectral image information acquired by the multispectral imager (15), the depth and internal structure data acquired by the crack scanning ultrasonic detector (12), and the distance data acquired by the laser ranging sensor (16) are fused and processed to accurately identify the crack position, direction, length, width, depth, internal defects, and surface state, and generate a digital model of the crack.

7. The underwater crack repair and leak-proofing equipment for concrete dams according to claim 1, characterized in that: The central controller (2) plans the motion trajectory and operation path of the mechanical arm (17) in the crack repair module based on the crack digital model generated by the crack detection module, the distance data of the laser ranging sensor (16), and the posture data of the posture sensor, and controls the mechanical arm (17) to drive the grouting nozzle (18) or the punch (19) to accurately reach the predetermined repair position.

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