A dam detection system

Abstract

The present invention discloses a dam detection system, including a shore-based detection device and a leakage detection device. The dam detection system utilizes an inspection vehicle to move along a detection track. During the movement, the vehicle controller adjusts a 3D camera and an infrared camera through a vehicle-mounted camera adjustment mechanism for image information collection. At the same time, a detection boat also moves along the dam in the water. During the movement of the detection boat, the boat controller lowers a sonar sensor through a retracting and deploying drive mechanism to detect leakage of the underwater part of the dam, thereby realizing the anti-leakage detection of the underwater part of the dam and being able to detect the collapse of the shore base of the dam at the same time; by using both the boat wireless communication module and the vehicle wireless communication module to establish wireless communication with the main wireless communication module, the main controller integrates and stores the detection data transmitted by the inspection vehicle and the detection boat in the main memory, and uploads it through a 4G communication module, realizing mechanized data collection and reducing the labor input.

Description

Technical Field

[0001] The present invention relates to a detection system, in particular to a dam detection system. Background Art

[0002] A dam is a general term for a dike and a dam, and also generally refers to buildings and structures for waterproofing and water retaining. During use, a dam is prone to leakage due to environmental factors. If the leakage of the dam is not treated in time, serious hazards such as dike breaches are likely to occur. Therefore, the detection of leakage is particularly important. Currently, most of the detection of leakage adopts the method of frogmen diving detection. This method is greatly affected by environmental factors and is difficult to implement in bad weather or when the temperature is low in winter. Moreover, the existing dam detection devices are difficult to detect the bank foundation of the dam and the underwater part of the dam simultaneously. Therefore, a dam detection system is proposed. Summary of the Invention

[0003] Object of the Invention: To provide a dam detection system that can detect the collapse of the bank foundation of the dam while mechanizing the leakage detection of the underwater part of the dam.

[0004] Technical Solution: The dam detection system provided by the present invention includes a bank foundation detection device and a leakage detection device. The bank foundation detection device includes a detection track and an inspection vehicle. The leakage detection device includes a positioning and charging mechanism and a detection boat. A plurality of track support devices are supported at intervals under the detection track, and the height of the track support device is adjustable. The inspection vehicle moves along the detection track. A 3D camera and an infrared camera are installed on the inspection vehicle through a vehicle-mounted camera adjustment mechanism. The vehicle-mounted camera adjustment mechanism is used to adjust the orientation and inclination angle of the 3D camera and the infrared camera. A vehicle controller and a vehicle wireless communication module electrically connected to the vehicle controller are installed on the inspection vehicle. Both the 3D camera and the infrared camera are electrically connected to the vehicle controller. The vehicle-mounted camera adjustment mechanism and the inspection vehicle are both driven and controlled by the vehicle controller.

[0005] A boat controller is installed on the detection boat. A sonar sensor electrically connected to the boat controller is installed on the detection boat through a retracting and extending drive mechanism. A boat controller and a boat wireless communication module electrically connected to the boat controller are installed on the detection boat. The retracting and extending drive mechanism is driven and controlled by the boat controller.

[0006] The positioning and charging mechanism wirelessly charges the detection boat. A main controller, a 4G communication module, and a main wireless communication module are installed on the positioning and charging mechanism. Both the 4G communication module and the main wireless communication module are electrically connected to the main controller. The boat wireless communication module and the vehicle wireless communication module both establish wireless communication with the main wireless communication module.

[0007] Further, a trolley memory and a trolley GPS module electrically connected to the trolley controller are installed in the inspection trolley; a trolley battery electrically connected to the trolley controller through a trolley voltage acquisition circuit is arranged in the inspection trolley, and the trolley battery supplies power to the trolley wireless communication module, the trolley controller, the 3D camera, the infrared camera, the trolley memory, the trolley GPS module, the inspection trolley, and the on-vehicle camera adjustment mechanism;

[0008] A main memory electrically connected to the main controller is installed on the positioning and charging mechanism;

[0009] A boat memory and a boat GPS module electrically connected to the boat controller are installed on the inspection boat; a boat battery electrically connected to the boat controller through a boat voltage acquisition circuit is arranged in the inspection boat, and the boat battery supplies power to the boat wireless communication module, the boat controller, the boat memory, the boat GPS module, the retracting and deploying drive mechanism, and the sonar sensor.

[0010] Further, the bottom support mechanism includes a bottom adjusting screw rod, a bottom support pipe, and a bottom sleeve; the lower end of the bottom sleeve is vertically slidably installed on the bottom support pipe; a bottom adjusting nut threadedly engaged with the bottom adjusting screw rod is rotatably installed at the upper pipe orifice of the bottom sleeve; the upper end of the bottom adjusting screw rod is fixed on the inspection track.

[0011] Further, the inspection trolley includes a control box, a moving cover, a moving drive mechanism, and a battery installation mechanism;

[0012] The control box is fixed inside the moving cover; the moving cover travels on the inspection track through rollers; the moving drive mechanism is used to drive the moving cover to move along the inspection track, and the moving drive mechanism is controlled by the main controller, and the battery supplies power to the moving drive mechanism through the power module.

[0013] Further, the camera adjustment mechanism includes an adjustment box, a pitch adjustment mechanism, and an orientation adjustment mechanism; the adjustment box is installed on the inspection trolley through the orientation adjustment mechanism, and the adjustment box is driven to rotate by the orientation adjustment mechanism; the pitch adjustment mechanism is installed on the adjustment box and is used to adjust the pitch angles of the 3D camera and the infrared camera; both the pitch adjustment mechanism and the orientation adjustment mechanism are controlled by the trolley controller.

[0014] Further, the shore-based detection device further includes a trolley charging station; the trolley charging station includes a U-shaped bracket, a connecting rod, and a main trolley charging coil; the U-shaped bracket is fixed on the detection track through the connecting rod; the main trolley charging coil is installed on the U-shaped bracket and is electrically connected to the power supply through a main trolley charging circuit; a secondary trolley charging coil electrically connected to the trolley battery through a secondary trolley charging circuit is installed at the corresponding position of the inspection trolley.

[0015] Furthermore, the detection boat includes a floating board, a box body, and two hulls; the two hulls and the box body are all installed on the floating board; the electric motors of the two hulls are both driven and controlled by a small boat controller.

[0016] Furthermore, the retracting and deploying drive mechanism includes a retracting and deploying drive motor and a wire winding wheel; the wire winding wheel is rotatably installed in the box body for retracting and deploying the cable of the sonar sensor; the retracting and deploying drive motor drives the rotating shaft of the wire winding wheel to rotate through a worm and worm gear pair, and is electrically connected to the small boat controller through a retracting and deploying drive circuit; a spring cable is sleeved on the rotating shaft; the spring cable is electrically connected between the end of the cable of the sonar sensor and the small boat controller; the cable of the sonar sensor penetrates through the box body.

[0017] Furthermore, the leakage detection device further includes a water quality detection device; the water quality detection device includes a water bucket, a swing drive motor, a swing bracket, and multiple water quality sensors; each water quality sensor is installed on the edge of the floating board through a mounting seat and is electrically connected to the small boat controller; the swing bracket is rotatably installed on the floating board, and the water bucket is rotatably installed at the lower end of the swing bracket; the swing drive motor drives the swing bracket to rotate through a worm and worm gear pair and is electrically connected to the small boat controller through a swing drive circuit; when the swing bracket rotates forward, the water bucket takes water, and the barrel mouth of the water bucket covers each water quality sensor, and when the swing bracket rotates backward, the water bucket pours water.

[0018] Furthermore, the positioning and charging device includes a positioning seat, a support column, a floating box, a junction box, and a charging board;

[0019] The positioning seat and the junction box are respectively installed at the upper and lower ends of the support column; the floating box is vertically slidably installed on the support column; an air storage cavity is provided in the floating box; the charging board is horizontally fixed on the floating box;

[0020] A positioning notch for buckling the detection boat is provided on the charging board; two guide rods in a shape of an inverted V in a top view are horizontally provided at the opening of the positioning notch; multiple main charging coils of the small boat electrically connected to a power source through a main charging circuit of the small boat are provided on the charging board; multiple slave charging coils of the small boat electrically connected to a small boat storage battery through a slave charging circuit of the small boat are provided on the top of the detection boat.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: The inspection vehicle moves along the detection track. During the movement, the vehicle controller adjusts the orientations and tilting angles of the 3D camera and the infrared camera through the vehicle-mounted camera adjustment mechanism to collect image information, so as to detect the collapse condition of the dam bank foundation, which is convenient for the inspectors to make judgments. During the movement of the inspection vehicle, the detection boat also moves along the dam in the water. During the movement of the detection boat, the boat controller lowers the sonar sensor through the retracting and extending drive mechanism to detect the leakage of the underwater dam, so as to realize the leakage detection of the underwater part of the dam while being able to detect the collapse of the dam bank foundation. The boat wireless communication module and the vehicle wireless communication module both establish wireless communication with the main wireless communication module, enabling the main controller to control the inspection vehicle and the detection boat to move synchronously for detection, and storing the detection data transmitted by the inspection vehicle and the detection boat in the main memory correspondingly, and uploading them to the remote control center through the 4G communication module after the detection is completed, realizing mechanized data collection and reducing the labor input. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of the present invention;

[0023] Figure 2 is an installation schematic diagram of the inspection vehicle of the present invention;

[0024] Figure 3 is a cross-sectional view of the vehicle-mounted camera adjustment mechanism of the present invention;

[0025] Figure 4 is an installation schematic diagram of the vehicle charging station of the present invention;

[0026] Figure 5 is a cross-sectional view of the detection boat of the present invention;

[0027] Figure 6 is a top view of the charging board of the present invention;

[0028] Figure 7 is a schematic circuit structure diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the described embodiments.

[0030] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "left", "right", "front", "rear", "upper", "lower", "top", "bottom", etc. are all based on the orientation or positional relationship shown in the drawings, and are only for the convenience of simplifying the description of the present invention, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0032] Embodiment 1:

[0033] As Figure 1-7 shown, a dam detection system provided by the present invention includes: a shore-based detection device and a leakage detection device; the shore-based detection device includes a detection track 1 and an inspection vehicle; the leakage detection device includes a positioning and charging mechanism and a detection boat; a plurality of track support devices are installed on the dam at intervals, the detection track 1 is installed on each track support device, and the height of the track support device is adjustable; the inspection vehicle moves along the detection track 1; a 3D camera 11 and an infrared camera 10 are installed on the inspection vehicle through a vehicle-mounted camera adjustment mechanism, and the vehicle-mounted camera adjustment mechanism is used to adjust the orientation and inclination of the 3D camera 11 and the infrared camera 10; a vehicle controller and a vehicle wireless communication module electrically connected to the vehicle controller are installed on the inspection vehicle; both the 3D camera 11 and the infrared camera 10 are electrically connected to the vehicle controller, and both the vehicle-mounted camera adjustment mechanism and the inspection vehicle are driven and controlled by the vehicle controller;

[0034] A boat controller is installed on the detection boat; a sonar sensor 15 electrically connected to the boat controller is installed on the detection boat through a retracting and deploying drive mechanism; a boat controller and a boat wireless communication module electrically connected to the boat controller are installed on the detection boat; the retracting and deploying drive mechanism is driven and controlled by the boat controller;

[0035] The positioning and charging mechanism wirelessly charges the detection boat; a main controller, a 4G communication module, and a main wireless communication module are installed on the positioning and charging mechanism; both the 4G communication module and the main wireless communication module are electrically connected to the main controller; both the boat wireless communication module and the vehicle wireless communication module establish wireless communication with the main wireless communication module.

[0036] The inspection vehicle is utilized to move along the detection track 1. During the movement, the vehicle controller adjusts the orientations and tilting angles of the 3D camera 11 and the infrared camera 10 through the on-vehicle camera adjustment mechanism to collect image information, thereby detecting the collapse condition of the dam foundation bank, which is convenient for the inspectors to make judgments. During the movement of the inspection vehicle, the detection boat also moves along the dam in the water. During the movement of the detection boat, the boat controller lowers the sonar sensor 15 through the retracting and extending drive mechanism to detect the leakage of the underwater dam, so as to achieve the detection of the collapse of the dam foundation bank while detecting the leakage prevention of the underwater part of the dam. The boat wireless communication module and the vehicle wireless communication module are both wirelessly communicated with the main wireless communication module, enabling the main controller to control the synchronous movement of the inspection vehicle and the detection boat for detection, and storing the detection data transmitted by the inspection vehicle and the detection boat correspondingly in the main memory, and uploading the data to the remote control center through the 4G communication module after the detection is completed, realizing mechanized data collection and reducing the labor input.

[0037] Furthermore, a vehicle memory and a vehicle GPS module electrically connected to the vehicle controller are installed in the inspection vehicle; a vehicle storage battery electrically connected to the vehicle controller through the vehicle voltage acquisition circuit is arranged in the inspection vehicle, and the vehicle storage battery supplies power to the vehicle wireless communication module, the vehicle controller, the 3D camera 11, the infrared camera 10, the vehicle memory, the vehicle GPS module, the inspection vehicle, and the on-vehicle camera adjustment mechanism.

[0038] A main memory electrically connected to the main controller is installed on the positioning charging mechanism.

[0039] A boat memory and a boat GPS module electrically connected to the boat controller are installed on the detection boat; a boat storage battery electrically connected to the boat controller through the boat voltage acquisition circuit is arranged in the detection boat, and the boat storage battery supplies power to the boat wireless communication module, the boat controller, the boat memory, the boat GPS module, the retracting and extending drive mechanism, and the sonar sensor 15.

[0040] The detection coordinates are preset in advance. The inspection vehicle obtains the current coordinate information through the vehicle GPS module, and the detection boat obtains the current coordinate information through the boat GPS module. When the inspection vehicle and the detection boat reach the detection coordinates, the vehicle controller controls the infrared camera 10 and the 3D camera 11 to perform image detection, and stores the detected image data corresponding to the current coordinates in the vehicle memory. The boat controller controls the sonar sensor 15 to perform leakage detection, and stores the detected dam data corresponding to the current coordinates in the boat memory. After the detection is completed, the data in the vehicle memory and the boat memory are both sent to the main controller, stored in the memory by the main controller, and the data is uploaded through the 4G communication module, which is beneficial to data comparison and analysis.

[0041] Furthermore, the bottom support mechanism includes a bottom adjusting screw rod 205, a bottom support pipe 202, and a bottom sleeve 203;

[0042] An installation base plate 201 for mounting on the dam is fixed to the lower end of the bottom support pipe 202; a sliding hole 206 is vertically provided on the bottom support pipe 202; the lower end of the bottom sleeve 203 is slidably inserted onto the bottom support pipe 202, and a bottom slider 207 that is slidably engaged with the sliding hole 206 is provided at the lower end of the bottom sleeve 203; a bottom adjusting nut 204 that is threadedly engaged with the bottom adjusting screw rod 205 is rotatably mounted at the upper pipe orifice of the bottom sleeve 203; the lower end of the bottom adjusting screw rod 205 extends into the bottom sleeve 203, and the upper end is fixed to the lower side surface of the inspection track 1.

[0043] A number of bottom support mechanisms are installed at intervals along the dam to support the inspection track 1. When an individual bottom support mechanism fails or the installation position collapses, the adjacent two bottom support mechanisms can still support the inspection track 1; by utilizing the cooperation among the bottom adjusting nut 204, the bottom sleeve 203, and the bottom adjusting screw rod 205, the length of the bottom adjusting screw rod 205 extending out of the bottom sleeve 203 can be adjusted by screwing the bottom adjusting nut 204, thereby realizing the height adjustment of the bottom support mechanism; during the initial installation, the height of each bottom support mechanism is adjusted to make the inspection track 1 parallel to the dam surface, which is convenient for subsequent data comparison by the inspection personnel after each inspection; by utilizing the cooperation between the bottom support pipe 202 and the bottom sleeve 203, when the dam at the position where the installation base plate 201 is located collapses, a part of the bottom sleeve 203 slides out of the bottom support pipe 202, so that the bottom support pipe 202 will not cause a downward pull on the inspection track 1.

[0044] Furthermore, the inspection vehicle includes a vehicle control box 402, a moving cover 401, and a moving drive mechanism; the moving drive mechanism includes a moving drive motor 425 and a moving drive gear 422; the moving cover 401 is U-shaped; the vehicle control box 402 is fixed inside the moving cover 401; the vehicle controller, the vehicle memory, the vehicle battery, and the vehicle GPS module are all located inside the vehicle control box 402;

[0045] Roller grooves 101 are provided along the length direction on the two vertical side surfaces of the inspection track 1; at least four rollers 403 are rotatably mounted on the two opposite inner side walls of the moving cover 401, and each roller 403 travels on the corresponding roller groove 101;

[0046] A moving drive rack 421 is arranged along the length direction of the inspection track 1; a moving drive gear 422 is rotatably installed on the trolley control box 402 and meshes with the moving drive rack 421; a moving drive motor 425 drives the moving drive gear 422 to rotate through a gear pair and is electrically connected to the trolley controller through a moving drive circuit.

[0047] The moving drive motor 425 is used to drive the moving drive gear 422 to rotate under the control of the main controller, driving the control box 402 and the moving cover 401 to move along the moving drive rack 421, enabling the inspection vehicle to move along the inspection track 1; the cooperation between the rollers 403 and the roller grooves 101 plays a role in movably supporting the moving cover 401 and reduces the friction between the moving cover 401 and the inspection track 1, improving the smoothness of the inspection vehicle moving on the inspection track 1.

[0048] Furthermore, the vehicle-mounted camera adjustment mechanism includes an adjustment box 502, a pitch adjustment mechanism, and an orientation adjustment mechanism; it includes an adjustment box 502, a pitch adjustment unit, and an orientation adjustment unit; the orientation adjustment unit includes a rotation drive motor 511, an adjustment column 501, a rotation drive gear 512, and a rotation driven gear 513; the pitch adjustment unit includes a pitch adjustment motor 503, an adjustment rod 505, a pitch drive worm gear 506, and a pitch drive worm 504;

[0049] The adjustment column 501 is rotatably installed on the top of the moving cover 401, and its lower end penetrates through the upper side wall of the moving cover 401 and the trolley control box 402 and extends into the trolley control box 402;

[0050] The rotation driven gear 513 is installed on the extending end of the adjustment column 501; the rotation drive gear 512 is rotatably installed in the trolley control box 402 and meshes with the rotation driven gear 513; the rotation drive motor 511 is used to drive the rotation drive gear 512 to rotate and is electrically connected to the trolley controller through a rotation drive circuit; the adjustment box 502 is fixed to the upper end of the adjustment column 501; the adjustment rod 505 is horizontally and rotatably installed through the adjustment box 502; the 3D camera 11 and the infrared camera 10 are respectively installed at both ends of the adjustment rod 505;

[0051] The pitch drive worm gear 506 is installed on the adjustment rod 505; the pitch drive worm 504 is rotatably installed in the adjustment box 502 and meshes with the pitch drive worm gear 506; the pitch adjustment motor 503 is used to drive the pitch drive worm 504 to rotate and is electrically connected to the trolley controller through a pitch adjustment circuit.

[0052] The rotation drive motor 511 is used to drive the rotation of the rotation drive gear 512 under the control of the trolley controller, so that the rotation driven gear 513 drives the adjustment column 501 to rotate, thereby realizing the adjustment of the orientations of the 3D camera 11 and the infrared camera 10; the pitch adjustment motor 503 is used to drive the rotation of the pitch drive worm 504 under the control of the trolley controller, and the pitch drive worm gear 506 drives the adjustment rod 505 to rotate, thereby realizing the adjustment of the pitch angles of the 3D camera 11 and the infrared camera 10.

[0053] Further, the shore-based detection device further includes a trolley charging station; the trolley charging station includes a U-shaped bracket 302, a connecting rod 303, and two main trolley charging coils 301; the upper end of the connecting rod 303 is fixed on the lower side of the detection track 1, and the lower end is fixed on the horizontal bracket of the U-shaped bracket 302; the two main trolley charging coils 301 are respectively installed at the upper ends of the two vertical brackets of the U-shaped bracket 302; the two main trolley charging coils 301 are both electrically connected to the power supply through the main trolley charging circuit; two slave trolley charging coils 304 corresponding to the positions of the two main trolley charging coils 301 are installed on the moving cover 401, and the two slave trolley charging coils 304 are both electrically connected to the trolley battery through the slave trolley charging circuit; a trolley ranging sensor 12 electrically connected to the trolley controller is installed on the moving cover 401.

[0054] The trolley controller judges whether the power of the trolley battery reaches the threshold through the trolley voltage acquisition circuit. When the threshold is reached, it controls the inspection vehicle to charge at the trolley charging station, improving the endurance of the inspection vehicle; the trolley ranging sensor 12 is used to facilitate the trolley controller to judge whether the inspection vehicle reaches the trolley charging station. When the trolley controller judges that it has reached, the inspection vehicle stops moving. At this time, the main trolley charging coil 301 corresponds to the position of the main trolley charging coil 301, and wireless charging starts.

[0055] Furthermore, the detection boat includes a floating board 705, a box body 701, and two hulls 704; the two hulls 704 are fixed on the lower side surface of the floating board 705; the box body 701 is installed on the upper side surface of the floating board 705; a small boat controller, a small boat memory, and a small boat GPS module are all installed in the box body 701; the electric motors of the two hulls 704 are all driven and controlled by the small boat controller; a small boat camera 711 electrically connected to the small boat controller is rotatably installed on the box body 701 through a rotating rod 712; an orientation adjustment motor 713 is installed in the box body 701; the orientation adjustment motor 713 drives the rotating rod 712 to rotate through a worm and worm gear pair, and is electrically connected to the small boat controller through an orientation drive circuit; a plurality of small boat ranging sensors 13 are arranged at intervals on the same horizontal height on the vertical outer side wall of the box body 701. The electric motors of the two hulls 704 drive the propellers to rotate under the control of the small boat controller, so that the detection boat can move freely on the water surface under the control of the small boat controller; the orientation adjustment motor 713 is used to drive the small boat camera 711 to rotate to realize omnidirectional image acquisition; the small boat ranging sensors 13 are used for obstacle detection, and are sent to the remote control center through the small boat controller and the main controller in sequence. The remote control center plans a new approach route and sends it back to the small boat controller in sequence. The small boat controller travels according to the new travel route and avoids obstacles to achieve flexible obstacle avoidance.

[0056] Furthermore, the retracting and deploying drive mechanism includes a retracting and deploying drive motor 722 and a wire winding wheel 721; the wire winding wheel 721 is rotatably installed in the box body 701 through a horizontal rotating shaft; the retracting and deploying drive motor 25 drives the rotating shaft to rotate through a worm and worm gear pair, and is electrically connected to the small boat controller through a retracting and deploying drive circuit; a retracting and deploying tube 732 is fixedly installed through the lower side surface of the box body 701, and the lower end of the retracting and deploying tube 732 is in a flared shape; a spring cable 723 is sleeved on the rotating shaft; the upper end of the cable of the sonar sensor 15 is fixed on the wire winding wheel 721 and is electrically connected to one end of the spring cable 723, and the other end of the spring cable 723 is electrically connected to the small boat controller; the cable of the sonar sensor 15 passes through the retracting and deploying tube 732; a position sensor 731 electrically connected to the small boat controller is arranged at the upper pipe orifice of the retracting and deploying tube 732.

[0057] The retracting and deploying drive motor 722 is used to drive the motor to drive the wire winding wheel 28 to rotate under the control of the small boat controller, so as to realize the retraction and deployment of the cable of the sonar sensor 15; the spring cable 723 is used to be close to or separated from the rotating shaft when the sonar sensor 15 is retracted and deployed, so as to reduce the pulling force on the cable of the sonar sensor 15 during the rotation process; the position sensor 731 is used to facilitate the small boat controller to judge whether the sonar sensor 5 is retracted.

[0058] Further, the leakage detection device further includes a water quality detection device; the water quality detection device includes a water bucket 801, a swing drive motor 804, a swing bracket, and multiple water quality sensors 14; the swing bracket includes a detection rod 805, a swing rod 803, and a U-shaped rod 802; the detection rod 805 is horizontally rotatably mounted on the floating plate 705; the swing drive motor 804 drives the detection rod 805 to rotate through a worm and worm gear pair, and is electrically connected to the boat controller through a swing drive circuit; the upper end of the swing rod 803 is fixed to the end of the detection rod 805; the U-shaped rod 802 is fixed to the lower end of the swing rod 803, and both ends of the U-shaped rod 802 are rotatably mounted on the upper part of the water bucket 801; a stop rod 807 for blocking the water bucket 801 from rotating to one side is provided on the U-shaped rod 802; a mounting seat 806 is fixed on the floating plate 705; each water quality sensor 14 is mounted on the mounting seat 806 for extending into the water bucket 801, and each water quality sensor 14 is electrically connected to the boat controller.

[0059] The swing drive motor 804 drives the detection rod 805 to rotate under the control of the boat controller, and the swing rod 803 drives the U-shaped rod 802 to swing. When swinging towards the water quality sensors 14, the water bucket 801 always keeps its barrel mouth facing up and covers each water quality sensor 14, so that the detection ends of each water quality sensor 14 extend into the water in the water bucket 801 to realize water quality detection, and the water quality detection data, coordinate information, and dam data are stored in the boat memory correspondingly; when the detection is completed, the swing drive motor 804 drives the U-shaped rod 802 to swing in the reverse direction. At this time, the stop rod 807 blocks the rotation of the water bucket 801, so that the axis of the water bucket 801 is parallel to the axis of the swing rod 803 until the water in the water bucket 801 is poured out, thus meeting the requirements of water intake and water pouring.

[0060] Further, the positioning and charging device includes a positioning seat 606, a support column 601, a floating box 605, a junction box 602, and a charging board 608;

[0061] A plurality of positioning nails 607 are vertically fixed on the ground of the positioning seat 606; the lower end of the support column 601 is fixed on the positioning seat 606; the junction box 602 is fixed on the top of the support column 601; the 4G communication module, the main controller, the main memory, and the main wireless communication module are all located in the junction box 602; the floating box 605 is vertically slidably mounted through the support column 601; an air storage cavity is provided in the floating box 605; a guide groove 603 is vertically provided on the support column 601; a guide slider matching with the guide groove 603 is provided on the floating box 605; the charging board 608 is horizontally fixed on the floating box 605;

[0062] A positioning notch 613 for buckling the rotating rod 712 is arranged on the charging board 608; two guiding rods 609 are horizontally arranged at the opening of the positioning notch 613; the two guiding rods 609 are in a V shape in the top view state; a plurality of small boat main charging coils electrically connected to a power supply through a small boat main charging circuit are arranged on the charging board 608, and each small boat main charging coil is distributed around the positioning notch 613; a plurality of small boat secondary charging coils 611 electrically connected to a small boat storage battery through a small boat secondary charging circuit are arranged on the inner surface of the upper side of the box body 701, and each small boat secondary charging coil 611 is annularly distributed;

[0063] An indicator light 612 electrically connected to the small boat controller is arranged on the top surface of the floating box 605.

[0064] The cooperation between the floating box 605 and the support column 601 enables the floating box 605 to vertically move on the support column 601. At the same time, the air storage cavity in the floating box 605 can ensure that the floating box 605 always floats on the water surface to prevent the charging board 608 from being immersed in the water; the wireless charging of the small boat storage battery is realized by using the small boat main charging coil and the small boat secondary charging coil 611, making the charging more convenient without human participation and improving the endurance of the detection boat; the stability of the detection boat during charging is improved by buckling the rotating rod 712 with the positioning notch 613; the two guiding rods 609 are used to guide the detection boat to ensure that the rotating rod 712 enters the positioning notch 613. At the same time, by using the distribution mode of each small boat main charging coil and the small boat secondary charging coil 611, it is ensured that at least one main charging coil can be docked with the secondary charging coil after the rotating rod 712 enters the positioning notch 613, ensuring that charging can be carried out.

[0065] In the dam detection system provided by the present invention, the main controller, the boat controller, and the trolley controller all adopt the existing single-chip microcomputer control modules for coordinated control; the main wireless communication module, the trolley wireless communication module, and the boat wireless communication module all adopt the existing wireless communication modules; the trolley GPS module and the boat GPS module both adopt the existing GPS modules; the position sensor 731, the boat ranging sensor 13, and the trolley ranging sensor 12 all adopt the existing ranging sensors; the trolley memory, the main memory, and the boat memory all adopt the existing memories; the sonar sensor 15 adopts the existing sonar sensor; the water quality sensor 14 all adopts the existing water quality sensors; the boat camera 711 and the infrared camera 10 both adopt the existing infrared cameras; the 3D camera 11 adopts the existing 3D camera; the mobile drive motor 425, the rotation drive motor 511, the pitch adjustment motor 503, the orientation adjustment motor 713, the retraction drive motor 722, and the swing drive motor 804 all adopt the existing stepper motors; the mobile drive circuit, the rotation drive circuit, the pitch adjustment circuit, the orientation adjustment circuit, the retraction drive circuit, and the swing drive circuit all adopt the corresponding stepper motor drive circuits; the main charging coil 301 of the trolley, the slave charging coil 304 of the trolley, the main charging coil of the boat, and the slave charging coil 611 of the boat all adopt the existing wireless charging coils; the main charging circuit of the trolley, the slave charging circuit of the trolley, the main charging circuit of the boat, and the slave charging circuit of the boat all adopt the corresponding wireless charging circuit modules.

[0066] When the dam detection system provided by the present invention is installed and used, the running route of the detection boat is preset in advance, and the detection coordinates are set on the running route. The detection boat runs along the preset running route, and the inspection trolley runs synchronously along the inspection track 1. When reaching the detection coordinates, both the detection boat and the inspection trolley stop moving for data detection.

[0067] The rotation drive motor 511 drives the rotation of the rotation driving gear 512 under the control of the trolley controller, so that the rotation driven gear 513 drives the adjustment column 501 to rotate. The pitch adjustment motor 503 drives the pitch driving worm 504 to rotate under the control of the trolley controller, so as to perform all-round image acquisition on the 3D camera 11 and the infrared camera 10, and store the images corresponding to the current coordinate information in the trolley memory.

[0068] The retraction drive motor 722 drives the winding wheel 28 to rotate under the control of the boat controller, and lowers the sonar sensor 15 for leakage data detection.

[0069] The swing drive motor 804 drives the detection rod 805 to rotate under the control of the boat controller. The swing rod 803 drives the U-shaped rod 802 to swing. When swinging towards the water quality sensor 14, the water bucket 801 always keeps its barrel mouth facing upwards and covers each water quality sensor 14, so that the detection ends of each water quality sensor 14 extend into the water in the water bucket 801 to perform water quality data detection.

[0070] The water leakage data, water quality data and the current coordinate information are stored in the boat memory in a corresponding manner. After the data of the current monitoring point is completed, the sonar sensor 15 is retracted; and the U-shaped rod 802 is driven to swing in the reverse direction. At this time, the shift lever 807 blocks the rotation of the water bucket 801, so that the axis of the water bucket 801 is parallel to the axis of the swing rod 803 until the water in the water bucket 801 is poured out.

[0071] When all the coordinate data are detected, the trolley controller and the boat controller respectively send the data in the trolley memory and the boat memory to the main controller, which integrates and stores the data in the main memory, and finally uploads the data to the remote control center through the 4G communication module.

[0072] When the trolley controller detects through the trolley voltage acquisition circuit that the battery power of the trolley reaches or is lower than the threshold, it drives the inspection vehicle to drive to the trolley charging station for charging. At this time, the inspection boat continues to run for detection; when the battery of the trolley is fully charged, the trolley controller controls the inspection vehicle to continue to detect each undetected coordinate point one by one.

[0073] When the boat controller detects through the boat voltage acquisition circuit that the battery power of the boat reaches or is lower than the threshold, it drives the inspection boat to drive to the positioning charging mechanism for charging. At this time, the inspection vehicle continues to run for detection; when the battery of the boat is fully charged, the boat controller controls the inspection vehicle to continue to detect each undetected coordinate point one by one.

[0074] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation of the present invention itself. Various changes can be made in its form and details without departing from the spirit and scope of the present invention defined by the appended claims.

Claims

1. A dam detection system, characterized in that: It includes a shore-based detection device and a leakage detection device; the shore-based detection device includes a detection track (1) and an inspection vehicle; the leakage detection device includes a positioning and charging mechanism and a detection boat; a plurality of track support devices are supported at intervals on the lower side of the detection track (1), and the height of the track support device is adjustable; the inspection vehicle moves along the detection track (1). A 3D camera (11) and an infrared camera (10) are installed on the inspection vehicle through a vehicle-mounted camera adjustment mechanism, and the vehicle-mounted camera adjustment mechanism is used to adjust the orientation and inclination angles of the 3D camera (11) and the infrared camera (10); a vehicle controller and a vehicle wireless communication module electrically connected to the vehicle controller are installed on the inspection vehicle; both the 3D camera (11) and the infrared camera (10) are electrically connected to the vehicle controller, and both the vehicle-mounted camera adjustment mechanism and the inspection vehicle are driven and controlled by the vehicle controller. A boat controller is installed on the detection boat; a sonar sensor (15) electrically connected to the boat controller is installed on the detection boat through a retracting and deploying drive mechanism; a boat controller and a boat wireless communication module electrically connected to the boat controller are installed on the detection boat; the retracting and deploying drive mechanism is driven and controlled by the boat controller. The positioning and charging mechanism wirelessly charges the detection boat; a main controller, a 4G communication module, and a main wireless communication module are installed on the positioning and charging mechanism; both the 4G communication module and the main wireless communication module are electrically connected to the main controller; both the boat wireless communication module and the vehicle wireless communication module establish wireless communication with the main wireless communication module. The detection boat includes a floating board (705), a box body (701), and two hulls (704); both the two hulls (704) and the box body (701) are installed on the floating board (705); the electric motors of both the two hulls (704) are driven and controlled by the boat controller. The leakage detection device further includes a water quality detection device; the water quality detection device includes a water intake bucket (801), a swing drive motor (804), a swing bracket, and a plurality of water quality sensors (14); each water quality sensor (14) is installed on the edge of the floating board (705) through a mounting seat (806) and is electrically connected to the boat controller; the swing bracket is rotatably installed on the floating board (705), and the water intake bucket (801) is rotatably installed at the lower end of the swing bracket; the swing drive motor (804) drives the swing bracket to rotate through a worm and worm gear pair and is electrically connected to the boat controller through a swing drive circuit; when the swing bracket rotates forward, the water intake bucket (801) takes water, and the barrel mouth of the water intake bucket (801) covers each water quality sensor (14), and when the swing bracket rotates backward, the water intake bucket (801) pours water. The swing bracket includes a detection rod (805), a swing rod (803), and a U-shaped rod (802); the detection rod (805) is horizontally installed on the floating board (705) in a rotary manner; the swing drive motor (804) drives the detection rod (805) to rotate through a worm and worm gear pair; the upper end of the swing rod (803) is fixed to the end of the detection rod (805); the U-shaped rod (802) is fixed to the lower end of the swing rod (803), and both ends of the U-shaped rod (802) are rotatably installed on the upper part of the water bucket (801); a stop rod (807) for blocking the water bucket (801) from rotating to one side is arranged on the U-shaped rod (802); a mounting seat (806) is fixed on the floating board (705); each water quality sensor (14) is installed on the mounting seat (806) and is used to extend into the water bucket (801).

2. The dam detection system according to claim 1, characterized in that: A trolley memory and a trolley GPS module electrically connected to the trolley controller are installed in the inspection trolley; a trolley battery electrically connected to the trolley controller through a trolley voltage acquisition circuit is arranged in the inspection trolley, and the trolley battery supplies power to the trolley wireless communication module, the trolley controller, the 3D camera (11), the infrared camera (10), the trolley memory, the trolley GPS module, the inspection trolley, and the on-vehicle camera adjustment mechanism; A main memory electrically connected to the main controller is installed on the positioning charging mechanism; A boat memory and a boat GPS module electrically connected to the boat controller are installed on the detection boat; a boat battery electrically connected to the boat controller through a boat voltage acquisition circuit is arranged in the detection boat, and the boat battery supplies power to the boat wireless communication module, the boat controller, the boat memory, the boat GPS module, the retracting and deploying drive mechanism, and the sonar sensor (15).

3. The dam detection system according to claim 1, characterized in that: The bottom support mechanism includes a bottom adjustment screw rod (205), a bottom support tube (202), and a bottom sleeve (203); the lower end of the bottom sleeve (203) is vertically slidably installed on the bottom support tube (202); a bottom adjustment nut (204) threadedly engaged with the bottom adjustment screw rod (205) is rotatably installed at the upper pipe orifice of the bottom sleeve (203); the upper end of the bottom adjustment screw rod (205) is fixed to the inspection track (1).

4. The dam detection system according to claim 1, characterized in that: The inspection trolley includes a control box (402), a moving cover (401), a moving drive mechanism, and a battery installation mechanism (41); The control box (402) is fixed inside the moving cover (401); the moving cover (401) travels on the inspection track (1) through rollers (403); the moving drive mechanism is used to drive the moving cover (401) to move along the inspection track (1), and the moving drive mechanism is controlled by the main controller, and the battery supplies power to the moving drive mechanism through the power module.

5. The dam detection system according to claim 1, wherein: The camera adjustment mechanism includes an adjustment box (502), a pitch adjustment mechanism, and an orientation adjustment mechanism; The adjustment box (502) is installed on the inspection vehicle through the orientation adjustment mechanism, and the adjustment box (502) is driven by the orientation adjustment mechanism to rotate; the pitch adjustment mechanism is installed on the adjustment box (502) and is used to adjust the pitch angles of the 3D camera (11) and the infrared camera (10); both the pitch adjustment mechanism and the orientation adjustment mechanism are controlled by the vehicle controller.

6. The dam detection system according to claim 1, wherein: The shore-based detection device further includes a vehicle charging station; the vehicle charging station includes a U-shaped bracket (302), a connecting rod (303), and a main vehicle charging coil (301); the U-shaped bracket (302) is fixed on the detection track (1) through the connecting rod (303); the main vehicle charging coil (301) is installed on the U-shaped bracket (302) and is electrically connected to the power supply through the main vehicle charging circuit; a vehicle secondary charging coil (304) electrically connected to the vehicle battery through the vehicle secondary charging circuit is installed at the corresponding position of the inspection vehicle.

7. The dam detection system according to claim 1, wherein: The retracting and deploying drive mechanism includes a retracting and deploying drive motor (722) and a wire winding wheel (721); the wire winding wheel (721) is rotatably installed in the box body (701) and is used to retract and deploy the cable of the sonar sensor (15); the retracting and deploying drive motor (722) drives the rotating shaft of the wire winding wheel (721) to rotate through a worm and worm gear pair and is electrically connected to the boat controller through the retracting and deploying drive circuit; a spring cable (723) is sleeved on the rotating shaft; the spring cable (723) is electrically connected between the end of the cable of the sonar sensor (15) and the boat controller; the cable of the sonar sensor (15) penetrates through the box body (701).

8. The dam detection system according to claim 1, wherein: The positioning charging device includes a positioning seat (606), a support column (601), a floating box (605), a junction box (602), and a charging plate (608); The positioning seat (606) and the junction box (602) are respectively installed at the upper and lower ends of the support column (601); the floating box (605) is vertically slidably installed on the support column (601); an air storage cavity is provided in the floating box (605); the charging plate (608) is horizontally fixed on the floating box (605); A positioning notch (613) for buckling the detection boat is provided on the charging plate (608); two guide rods (609) in a shape of an inverted V in a top view are horizontally provided at the opening of the positioning notch (613); a plurality of main boat charging coils electrically connected to the power supply through the main boat charging circuit are provided on the charging plate (608); a plurality of secondary boat charging coils (611) electrically connected to the boat battery through the secondary boat charging circuit are provided on the top of the detection boat.

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