A dam body rapid detection system and method

Abstract

The present invention provides a dam body rapid detection system and method, the system includes: a plurality of positioning rods, the plurality of positioning rods are respectively arranged on both sides and the top of the dam body; a signal antenna, the signal antenna is arranged on the positioning rod; a drone, the drone is connected to the signal antenna for communication, and the drone has a defect scanning device; and a control system, the control system is connected to the signal antenna for communication, and is used to receive data from the drone through the signal antenna and send instructions to the drone. The system of the present invention is based on drones and wireless communication positioning technology, coordinates the dam, quickly finds crack defects on the entire dam body and accurately locates them, improves recognition accuracy and eliminates missed detection.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic engineering and dam detection, and in particular to a dam body rapid detection system and method. Background Art

[0002] Dams have always been the most important main project in water conservancy construction. The strength and integrity of the dam body directly affect the construction quality and use effect of the entire water conservancy project. Since the dam body is mainly made of concrete, the problems that are prone to occur in the construction of the dam and its use need to be paid regular attention.

[0003] The main and most common problem with concrete is cracks. The temperature of the mixed concrete is still high when it is poured. If the cooling process is too fast, it will shrink rapidly. Concrete itself has no ductility and is prone to cracks in weak spots. The crack problem is particularly serious when the concrete production parameters are inappropriate or when it is in an area with a large temperature difference. In addition, natural phenomena such as wind, sun, water flow and geological disasters can also cause cracks. A thousand-mile embankment is destroyed by an ant hole. Once cracks occur, they will affect the strength of the surrounding dam body, cause stress concentration, and cause the cracks themselves to continue to expand, which will eventually seriously affect the performance of the dam and even cause the entire dam to break and collapse. For stress dams that rely more on structural integrity, the impact is particularly obvious.

[0004] At present, the usual way to inspect cracks in dam bodies is mainly manual inspection inside the dam body. Workers walk along the passages built inside the dam body to observe and record the location when they encounter water seepage or obvious cracks. This inspection method has the following disadvantages: 1. Tiny cracks cannot be found with the naked eye. 2. Untimely discovery, because manual inspection can only find cracks inside the dam body. Generally speaking, cracks first occur on the outside of the dam body. Then, when the cracks extend to the inside, the degree of external damage may have been quite serious. 3. There is no correspondence between the inside and outside of the dam body. The location of the cracks seen from the inside of the dam body is difficult to find accurately on the outside, making repair difficult. 4. The workload is large, and there will be missed inspections. It takes a long time to complete a channel inspection, and people cannot concentrate all the time. 5. The channel inspection cannot traverse the entire dam body. Even if no cracks are found during the inspection, it does not mean that there are no cracks in the dam body. Summary of the invention

[0005] In order to improve the inspection efficiency, real-time performance and accuracy of the dam, the purpose of the present invention is to provide a dam body rapid detection system and method. The system is based on drones and wireless communication positioning technology to coordinate the dam, quickly find crack defects on the entire dam body and accurately locate them, thereby improving recognition accuracy and preventing missed detection.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A dam body rapid detection system, comprising:

[0008] A plurality of positioning rods, wherein the plurality of positioning rods are respectively arranged on both sides and the top of the dam body;

[0009] A signal antenna, wherein the signal antenna is arranged on the positioning rod;

[0010] A drone, the drone is communicatively connected to the signal antenna, and the drone has a defect scanning device;

[0011] and a control system, wherein the control system is communicatively connected to the signal antenna and is used to receive data from the UAV through the signal antenna and issue instructions to the UAV.

[0012] As a further improvement of the present invention, it also includes:

[0013] The endurance station is set on the top of the dam and is used for the take-off and landing of drones and the supply of endurance energy.

[0014] As a further improvement of the present invention, a positioning rod is also provided on the endurance station.

[0015] As a further improvement of the present invention, the drone is a patrol drone.

[0016] As a further improvement of the present invention, at least one positioning rod is respectively provided on both sides and the top of the dam body, and three positioning rods are arranged in a triangle around the dam surface of the dam body.

[0017] As a further improvement of the present invention, the defect scanning device is one or more of a camera device, a laser device and a thermal imaging device.

[0018] As a further improvement of the present invention, the drone communicates with the signal antenna via a 4g module, a 5g module, a WiFi module or a ZigBee module.

[0019] A detection method for a dam body rapid detection system comprises the following steps:

[0020] Obtain scanning data obtained by using a drone to scan the surface of the dam;

[0021] Get the distance information between the drone and different positioning poles;

[0022] The scan data and distance information are matched, and the scan data with defects and the corresponding distance information are output.

[0023] As a further improvement of the present invention, the drone flies according to the inspection route, and the specific steps are:

[0024] Select several fixed points in the route. When the drone reaches the initial point, the positioning antenna sends the location information to the control system. The control system then transmits the location information of the next fixed point to the drone, and the drone flies straight to this point again according to the command;

[0025] And so on, until the inspection task is completed or the endurance is insufficient.

[0026] As a further improvement of the present invention, the distance information is converted into coordinate values ​​and then matched with the corresponding scan data;

[0027] The inspection route is an S-shaped route, which is formed from the bottom to the top and then to the bottom on one side of the dam body.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] The system of the present invention uses drones to scan new defects and uses positioning rods to locate drone positions, so that the defect location of the dam body can be quickly obtained. Compared with the naked eye, the use of drones to detect the surface of the dam body can accurately find small or hidden cracks on the dam surface by relying on advanced detection methods such as lasers. The efficiency is much higher than manual inspection. The whole set of equipment is flexible to use and can be used locally or as a whole, regularly or for sampling. It has good adaptability and is particularly suitable for the inspection needs of the dam body of large hydropower stations.

[0030] The detection method of the present invention realizes the coordinateization of the dam surface. Any dam surface is projected on a vertical plane, and any point on the projection can be represented by a unique projection coordinate (x, y) based on three positioning antennas. The specific position can be accurately found through the coordinates. In addition to being used for inspection, the coordinates can also be used for various tasks that require specific positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 It is a schematic diagram of the dam body rapid detection system of the present invention;

[0033] Figure 2 This is a schematic diagram of the dam body rapid detection system of the present invention;

[0034] Figure 3 The overall structure and layout of the present invention are schematic diagrams; (a) is a side view, and (b) is a front view;

[0035] Figure 4 It is a coordinate schematic diagram of the dam surface of the present invention; (a) is a side view, (b) is a front view;

[0036] Figure 5 It is a schematic diagram of the three-point positioning of the present invention; (a) is a side view, and (b) is a front view;

[0037] Figure 6 This is an example diagram of the inspection of the present invention. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] like Figure 1 As shown, a dam rapid detection system includes a hovering drone 1, a plurality of positioning rods 2, a plurality of signal antennas 3, a cruising station 4 and a control system 5. The drone 1 is mainly composed of a power system, a communication system, a positioning system and a detection system. For a dam surface, there must be at least four positioning rods, three of which are arranged in a triangle around the dam surface to be tested, and the remaining one is placed next to the cruising station, which can guide the drone back to the station for cruising and can also communicate data with the control system and other antennas.

[0040] Among them, a plurality of positioning rods 2 are respectively arranged on both sides and the top of the dam body 6; the signal antenna 3 is arranged on the positioning rod 2; the drone 1 is connected to the signal antenna 3 for communication, and the drone 1 has a defect scanning device; the control system 5 is connected to the signal antenna 3 for communication, and is used to receive data from the drone 1 through the signal antenna 3 and issue instructions to the drone 1. The endurance station 4 is arranged on the top of the dam body 6, and is used for the take-off and landing of the drone and the endurance energy supply.

[0041] A positioning rod 2 is also provided on the endurance station 4. The drone 1 is an inspection drone.

[0042] The defect scanning device is one or more of a camera device, a laser device and a thermal imaging device. Other devices that can realize defect detection are also acceptable.

[0043] The drone 1 and the signal antenna 3 communicate through a 4g module, a 5g module, a WiFi module or a ZigBee module. The control system can be placed in a room next to the endurance station. It is mainly a computer that can process the drone data received by the antenna at the endurance station and issue instructions to the drone based on the data.

[0044] A signal antenna is installed on each positioning pole to send control and positioning signals outward, receive location information and detection data transmitted by the drone, and also transmit data sent by the drone to the control system.

[0045] The endurance station is an open space on the top of the dam, which is used for the take-off and landing of drones. There should be an artificial building nearby (the room where the control system is located) to store the energy for the endurance of the drone, such as batteries, charging ports or fuel tanks.

[0046] The drone itself can adopt the inspection drones currently on the market. These drones can customize functions according to specific inspection needs, and control software is also provided. The present invention needs to achieve: 1. Receive drone information, where measurement data and drone parameters are stored at any time, and convert drone position data into coordinate values. 2. Combine the actual coordinate value with the target coordinate value to derive the path planning of the drone. 3. Connect with the control software program to realize planning. 4. The target coordinate value is obtained from the inspection route and is automatically generated after the staff designs an inspection route. 5. Send the command data to the drone.

[0047] The control system room and endurance station can directly utilize the buildings and open space on the top of the dam. Only necessary equipment needs to be installed without the need for large-scale construction.

[0048] Another object of the present invention is to provide a dam body rapid detection method, comprising the following steps:

[0049] The drone 1 scans the surface of the dam body 6 to obtain scanning data;

[0050] The drone 1 communicates with a plurality of positioning poles 2 to obtain distance information from different positioning poles 2;

[0051] The control system 5 obtains the scanning data and the distance information, performs correspondence between the scanning data and the distance information, and outputs the scanning data with defects and the corresponding distance information.

[0052] Reference Figure 3 to Figure 5 Taking the inspection method of four antennas as an example, when the whole system is built, the inspection route is designed first, as shown in the figure. After the control system obtains the route data, it can release the drone, and the drone starts real-time distance measurement with the three antennas after taking off.

[0053] Reference Figure 3 to Figure 5 After the distance information (a, b, c) is transmitted to the control system, it is converted into coordinate values ​​(x, y, z). After the system compares the coordinate values ​​with the initial position coordinates (x0, y0, z0) of the preset route, it sends a control command to the drone, and the drone flies in a straight line to the initial position according to the command.

[0054] Reference Figure 6To realize the inspection route shown in the figure, several fixed points can be selected in the route. When the drone reaches the initial point (x0, y0, z0), the positioning antenna sends the position information to the control system, and the control system transmits the position information of the next fixed point (x1, y1, z1) to the drone, and the drone flies to this point again according to the command. And so on, until the inspection task is completed or the endurance is insufficient.

[0055] The inspection route is an S-shaped line, which is formed from the bottom to the top and then to the bottom on one side of the dam body 6 dam surface.

[0056] During the flight of the drone, the detection system on it also works at the same time, facing the dam body 6, using a variety of methods such as video, laser, and thermal imaging to scan the surface of the dam body 6, and the data of the scanning process is also transmitted to the control system. When encountering cracks, the scanning data will change. The system records these changes and the coordinates of the changes. The precise positioning of defects such as cracks is completed.

[0057] When the drone reaches the last fixed point, it completes a patrol. The system will send a return command to the drone. The drone returns according to the command and lands at the endurance station. Because the location of the endurance station can also be coordinated, the positioning method used in the return process is the same as that of the patrol.

[0058] The drone itself records data such as power or fuel tank level at any time. When it decreases to a certain value, the drone will send a message that the endurance is insufficient. After receiving the information, the control system records the coordinates of the drone's current point (breakpoint) and guides the drone back to endurance. After the endurance is restored, the drone can be guided to continue the inspection from the breakpoint or start over.

[0059] For large dams, three antennas may cause large positioning errors and weak positioning signals. In this case, the number of antennas should be increased, and each antenna should also have a relay function to ensure stable communication and inspection results. The communication signals used by the antenna can be 4g, 5g, WiFi, ZigBee, etc., which can be customized according to actual conditions.

[0060] The present invention has the following advantages:

[0061] 1. The coordinate system of the dam body 6 surface is realized. Any dam surface is projected onto a vertical plane, and any point on the projection can be represented by a unique projection coordinate (x, y) based on three positioning antennas. The specific location can be accurately found through the coordinates. In addition to inspection, the coordinates can also be used for various tasks that require specific positioning.

[0062] 2. When the drone conducts inspections, the location information is used as the basis for the drone's positioning, and a mapping between the location information and the dam's coordinates is established. Assume that the drone measures distance in real time with at least three positioning antennas, namely (a, b, c). First, the projection coordinate (x, y) corresponds to a whole straight line with the point (x, y) as the foot of the perpendicular and perpendicular to the vertical coordinate projection plane where (x, y) is located. Combined with the distance z between the drone itself and the surface of the dam, the position of the drone is uniquely determined. It is not difficult to see that the coordinates (x, y, z) and the distance combination (a, b, c) are one-to-one corresponding, that is, the drone can accurately move from any coordinate of the dam to any other coordinate based on the distance data from the three antennas. If the drone is allowed to repeat this process continuously, it can traverse the entire dam surface along a certain route to achieve a complete detection.

[0063] 3. Compared with the naked eye, the use of drones to inspect the surface of the dam body 6 can accurately find tiny or hidden cracks on the dam surface by relying on advanced detection methods such as lasers. The efficiency is much higher than manual inspection.

[0064] 4. 4G, WiFi, ZigBee and other methods can be used for equipment communication. The means are flexible and can be combined with the existing network system of general hydropower stations.

[0065] 5. All the equipment that the present invention intends to use are mature products, and no large amount of R&D investment is required.

[0066] 6. The whole set of equipment is flexible to use. It can be used for local or overall, regular or sampling. It has good adaptability and is particularly suitable for the inspection needs of the dam body 6 of large hydropower stations.

[0067] All articles and references disclosed above, including patent applications and publications, are incorporated herein by reference for all purposes. The term "consisting essentially of..." describing a combination should include the identified elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combination of elements, ingredients, parts or steps herein also contemplates embodiments that are essentially composed of these elements, ingredients, parts or steps. By using the term "may", it is intended to illustrate that any attribute described that "may" include is optional.

[0068] Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "an" used to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

[0069] It should be understood that the above description is for illustration and not for limitation. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the foregoing claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended to be a waiver of such subject matter, nor should it be considered that the applicant has not considered such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A dam rapid detection system, characterized in that: include: A plurality of positioning rods (2), wherein the plurality of positioning rods (2) are respectively arranged on both sides and the top of the dam body (6); A signal antenna (3), wherein the signal antenna (3) is arranged on the positioning rod (2); A drone (1), the drone (1) being communicatively connected to the signal antenna (3), and the drone (1) having a defect scanning device; and a control system (5), the control system (5) being communicatively connected to the signal antenna (3) and used for receiving data of the drone (1) through the signal antenna (3) and issuing instructions to the drone (1); Also includes: A cruising station (4), the cruising station (4) being arranged on the top of the dam body (6) and used for the take-off and landing of the UAV and for the supply of cruising energy; The endurance station (4) is also provided with a positioning rod (2); At least one positioning rod (2) is respectively provided on both sides and the top of the dam body (6), and three positioning rods (2) are arranged in a triangle around the dam surface of the dam body (6); The defect scanning device is one or more of a camera device, a laser device and a thermal imaging device.

2. A dam rapid detection system according to claim 1, characterized in that: The drone (1) is an inspection drone.

3. A dam rapid detection system according to claim 1, characterized in that: The drone (1) communicates with the signal antenna (3) via a 4G module, a 5G module, a WiFi module or a ZigBee module.

4. A detection method for a dam rapid detection system according to any one of claims 1 to 3, characterized in that: The following steps are involved: Obtaining scanning data obtained by the drone (1) scanning the surface of the dam body (6); Obtaining distance information between the drone (1) and different positioning poles (2); The scan data and distance information are matched, and the scan data with defects and the corresponding distance information are output.

5. The detection method according to claim 4, characterized in that: The drone (1) flies according to the inspection route, and the specific steps are as follows: Select several fixed points in the route. When the drone reaches the initial point, the positioning antenna sends the location information to the control system. The control system then transmits the location information of the next fixed point to the drone, and the drone flies straight to this point again according to the command; And so on, until the inspection task is completed or the endurance is insufficient.

6. The detection method according to claim 5, characterized in that: The distance information is converted into coordinate values ​​and then matched with the corresponding scan data; The inspection route is an S-shaped route, which is formed from the bottom to the top and then to the bottom on one side of the dam surface of the dam body (6).

Images