A device for detecting cracks in dam bodies of hydraulic engineering projects

Abstract

The present invention provides a device for detecting cracks in a dam body of a water conservancy project, comprising: a frame assembly and a detection assembly; the frame assembly comprises a carriage, one end of the carriage is connected to a symmetrical hanging ring, the carriage is connected to two groups of symmetrical mounting blocks, each of the mounting blocks is respectively connected to a guide cross bar; the detection assembly comprises a U-plate, the U-plate is provided with two groups of symmetrical straight-mouth grooves, the U-plate is connected to symmetrical guide vertical rods, the symmetrical guide vertical rods are respectively passed through the bottom plate of the carriage and arranged in the carriage, the U-plate is connected to two groups of symmetrical vertical round rods, each of the vertical round rods is respectively passed through an inner slide groove. The present invention relates to the field of crack measurement technology, and in particular to a device for detecting cracks in a dam body of a water conservancy project. In view of the deficiencies of the prior art, the present invention develops a device for detecting cracks in a dam body of a water conservancy project, which can remove gravel and weeds and realize the detection and measurement of cracks in the dam body.

Description

Technical Field

[0001] The invention relates to the technical field of crack measurement, and in particular to a device for detecting cracks in a dam body of a water conservancy project. Background Art

[0002] A dam is a water-retaining structure that intercepts water flow in rivers and channels to raise water levels or regulate flow. It can form a reservoir, raise water levels, regulate runoff and concentrate water heads. It is used for flood control, water supply, irrigation, hydroelectric power generation and improved navigation. River regulation structures that adjust river flow and protect the bank are also called dams, such as groins, spur dams and submerged dams. For some small-scale water conservancy projects, the embankments are inclined, and manual detection is mainly used when detecting cracks.

[0003] Currently, there is a lack of equipment that can avoid and remove gravel and weeds to facilitate the detection and measurement of cracks in the dam body.

[0004] Therefore, in view of the above problems, a hydraulic engineering dam crack detection device is proposed to solve the above problems. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention develops a device for detecting cracks in a dam body of a water conservancy project. The invention can remove gravel and weeds and realize the detection and measurement of cracks in the dam body.

[0006] The technical solution to the technical problem solved by the present invention is as follows: the present invention provides a device for detecting cracks in a dam body of a water conservancy project, comprising: a frame assembly and a detection assembly; the frame assembly comprises a carriage, one end of the carriage is connected to a symmetrical hanging ring, the carriage is connected to two groups of symmetrical mounting blocks, each of the mounting blocks is respectively connected to a guide cross bar; the detection assembly comprises a U-plate, the U-plate is provided with two groups of symmetrical straight-mouth grooves, the U-plate is connected to symmetrical guide vertical rods, the symmetrical guide vertical rods are respectively passed through the bottom plate of the carriage and arranged in the carriage, the U-plate is connected to two groups of symmetrical vertical round rods, each of the vertical round rods is respectively passed through an inner slide groove; inner square blocks are respectively nested in the symmetrical inner slide grooves, and each of the inner square blocks is respectively Connect the outer circular blocks, each of which is nested in the corresponding straight-mouth groove, each of which is connected to the inner circular rod, each of which is connected to the round tube, and the symmetrical round tubes are connected to the vertical circular rods; the symmetrical vertical circular rods are connected to the installation strips, and the symmetrical installation strips are connected to a group of L levers, each of which is connected to the cutter, and the two groups of L levers are staggered; the symmetrical installation strips are respectively connected to one end of the inner connecting rod, and the two inner connecting rods are respectively connected to the mounting plate, the mounting plate is connected to the vertical long circular rod, and the vertical long circular rod passes through the U plate, and the mounting plate is connected to a group of distance sensors, and each mounting plate is connected to an industrial camera. By adopting the detection component, the measurement of the crack is realized, and the distance measured by the distance sensor to the flat and crack-free position of the dam body slope is the standard distance. The distance measured by the distance sensor is greater than the standard distance, which is a crack. Through the different measurement of a group of distance sensors, the length and width of the crack are measured. When the measuring position is in the weed area, the outer circular block first swings downward and inward from the junction of the upper straight groove and the inner semicircular groove of the straight groove, and the L lever gathers the weeds to the middle. The L levers on both sides are staggered and overlapped, so that the weeds are in the middle position of the area formed by the two groups of L levers, and then move downward and inward, and the weeds are gathered to the middle in the opposite direction, so that the cutter is close to the ground. Then, the outer circular block moves along the lower straight groove of the straight groove, so that the tips of the cutters on both sides first approach each other to cut off the roots of the weeds, and then move away from each other. The L lever drives the weeds away from the measuring position, which is convenient for measurement.

[0007] As an optimization, the U-plate bearing is connected to the central axis of the slot rod, each slot rod has an outer block nested in the slot, each outer block is connected to the corresponding outer block by a bearing, the central axis of one slot rod is connected to the synchronous wheel, the U-plate bearing is connected to the central axis of another synchronous wheel, the two ends of the synchronous belt surround the corresponding synchronous wheel, the central axis of another synchronous wheel is connected to the driven gear, the central axis of another slot rod is connected to the driving gear, the driving gear meshes with the driven gear, the U-plate is connected to the motor through the motor bracket, the output shaft of the motor and the central axis of another slot rod are connected to the bevel gear respectively, and the two bevel gears mesh with each other. By using the motor drive, gear meshing and synchronous belt transmission, the two groups of L levers can achieve synchronous reverse movement, which is convenient for weed processing.

[0008] As an optimization, four groups of adjustment components are also included, the adjustment components include vertical slots, the symmetrical guide cross bars pass through the corresponding vertical slots respectively, the vertical slots are provided with upper blocks and lower blocks, the upper blocks are rotatably connected to one end of the upper connecting rod, the lower blocks are rotatably connected to the center of the middle connecting rod, the lower end of the vertical slot is rotatably connected to one end of the lower connecting rod, the other end of the upper connecting rod and the other end of the lower connecting rod are rotatably connected to one end of the middle connecting rod respectively, the lower blocks are connected to the power round rod, the U plate is provided with symmetrical wide slots, the power round rod is nested in the wide slots, and the upper blocks are connected to the power round blocks. By adopting the adjustment components, the detection components and the frame components can be adjusted in the height direction, which is convenient for crossing obstacles.

[0009] As an optimization, four groups of walking components are also included, and the walking components include a mounting vertical rod, the mounting vertical rod is connected to the corresponding upper block, the mounting vertical rod passes through the corresponding lower block and the vertical slot, the mounting vertical rod is connected to the shell, the shell is connected to the steering gear, the output shaft of the steering gear passes through the shell to connect to the U-shaped wheel seat, and the U-shaped wheel seat bearing is connected to the wheel. By using the walking components, it is convenient to realize the movement of the device along the inclined surface of the dam body, and by using the steering gear, the wheel rotation is realized, which is convenient for the device to move along the length direction of the dam body.

[0010] As an optimization, the carriage is provided with two sets of symmetrical inclined slots, each of which is respectively embedded with the corresponding power round block. By providing the inclined slots, the adjustment components are kept away from each other, which is convenient for crossing obstacles. The higher the height of the carriage, the farther the distance between the wheels on both sides, which is safer.

[0011] As an optimization, the carriage is connected to symmetrical electric push rods, the push rods of the symmetrical electric push rods are respectively connected to transverse grooves, and the corresponding power round blocks are respectively embedded in the symmetrical transverse grooves. By using electric push rods, power is provided for the movement of the detection component and the frame component in the height direction.

[0012] As an optimization, the symmetrical transverse grooves are connected to obstacle avoidance cameras respectively. The obstacle avoidance camera uses existing technology to sense and analyze the surrounding environment to achieve autonomous obstacle avoidance. By sending high-frequency electromagnetic waves and receiving reflected signals, it can detect surrounding obstacles and calculate the distance. LiDAR obstacle avoidance sends laser beams and receives reflected signals to achieve high-precision detection and distance calculation.

[0013] As an optimization, the U plate is connected to the collection tank by installing a vertical long rod. By setting the collection tank, it is convenient to collect the cut weeds and gravel.

[0014] The effects provided in the content of the invention are only the effects of the embodiments, rather than all the effects of the invention. The above technical solution has the following advantages or beneficial effects:

[0015] 1. This device uses an industrial camera to identify cracks, and a set of distance sensors measures the distance to the slope of the dam body. If the distance measured by the distance sensor is greater than the standard distance, it is a crack, and the length and width of the crack can be measured. When dealing with weed areas, the L lever gathers the weeds to the middle, and the L levers on both sides overlap and stagger, so that the weeds are in the middle of the area formed by the two sets of L levers, and then the weeds are gathered to the middle in the opposite direction, and the staggered area becomes smaller, so that the cutter is close to the ground, and the tips of the cutters on both sides are close to each other to cut off the roots of the weeds, and then move away from each other. The L lever drives the weeds away from the measurement position, which is convenient for measurement. When dealing with weeds, the industrial camera moves in the vertical direction, which is convenient for dynamic observation of the crack area and expansion of the detection range, and is easy to use.

[0016] 2. This device uses a walking assembly to facilitate the movement of the device along the slope of the dam body to detect cracks. By setting a steering gear, the wheels can be rotated to facilitate the movement of the device along the length of the dam body. This can realize the conversion from top-down detection to bottom-up detection, which is convenient for continuous detection. It is also convenient for avoiding obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the frame assembly of the present invention.

[0020] Figure 3 It is a schematic diagram of the structure of the adjustment component and the travel component of the present invention.

[0021] Figure 4It is a schematic diagram of the three-dimensional structure of the detection component of the present invention.

[0022] Figure 5 The local three-dimensional structure of the detection component of the present invention is shown in FIG. Figure 1 .

[0023] Figure 6 The local three-dimensional structure of the detection component of the present invention is shown in FIG. Figure 2 .

[0024] Figure 7 It is a schematic diagram of the stone removal state of the present invention.

[0025] Figure 8 It is a schematic diagram of the electric hoist of the present invention.

[0026] Fig. 9 It is a schematic diagram of the use state of the present invention.

[0027] Fig.10 It is a schematic diagram of the measurement state of the present invention.

[0028] Fig.11 It is a schematic diagram of the initial position of grass cutting of the present invention.

[0029] Fig.12 It is a schematic diagram of the grass cutting process of the present invention.

[0030] In the figure:

[0031] 1. frame assembly, 11. hanging ring, 12. carriage, 13. mounting block, 14. guide cross bar, 15. inclined slot;

[0032] 2. Adjustment assembly, 21. Vertical slot, 22. Upper block, 23. Upper connecting rod, 24. Middle connecting rod, 25. Power round block, 26. Power round rod, 27. Lower block, 28. Lower connecting rod;

[0033] 3. Detection assembly, 31. Guide vertical rod, 32. U plate, 33. Vertical long round rod, 34. Wide groove, 35. Straight groove, 36. Vertical round rod, 37. Inner slide groove, 38. Inner block, 39. Inner round rod, 310. Round tube, 311. Inner connecting rod, 312. Install long strip, 313. Cutter, 314. L lever, 315. Install vertical round rod, 316. Synchronous wheel, 317. Synchronous belt, 318. Driven gear, 319. Bevel gear, 320. Motor, 321. Driving gear, 322. Slot rod, 323. Outer block, 324. Outer round block, 325. Mounting plate, 326. Distance sensor, 327. Industrial camera;

[0034] 4. Traveling assembly, 41. Installing vertical rod, 42. Housing, 43. Steering gear, 44. U-shaped wheel seat, 45. Wheel;

[0035] 5. Obstacle avoidance camera;

[0036] 6. Electric push rod, 61. Horizontal slot;

[0037] 7. Collection tank;

[0038] 8. Electric hoist, 81. Electric hoist mounting plate. DETAILED DESCRIPTION

[0039] In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in combination with the accompanying drawings. The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. In addition, the present invention may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. It should be noted that the components illustrated in the accompanying drawings are not necessarily drawn to scale. The present invention omits the description of known components and processing technologies and processes to avoid unnecessary limitations on the present invention. The orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] like Figures 1 to 12As shown, embodiment 1: a device for detecting cracks in a dam body of a water conservancy project, comprising: a frame assembly 1 and a detection assembly 3; the frame assembly 1 comprises a carriage 12, one end of the carriage 12 is connected to a symmetrical hanging ring 11, the carriage 12 is connected to two groups of symmetrical mounting blocks 13, each of the mounting blocks 13 is respectively connected to a guide cross bar 14; the detection assembly 3 comprises a U-plate 32, the U-plate 32 is provided with two groups of symmetrical straight-mouth grooves 35, the U-plate 32 is connected to symmetrical guide vertical rods 31, the symmetrical guide vertical rods 31 respectively pass through the bottom plate of the carriage 12 and are arranged in the carriage 12, the U-plate 32 is connected to two groups of symmetrical vertical round rods 36, each of the vertical round rods 36 respectively passes through an inner slide groove 37; the symmetrical inner slide grooves 37 are respectively nested with inner square blocks 38, each of the inner square blocks 38 is respectively connected to an outer round block 324, and each of the outer round blocks 324 is respectively Nested in the corresponding straight-mouth groove 35, each of the inner square blocks 38 is respectively connected to the inner round rod 39, each of the inner round rod 39 is respectively connected to the round tube 310, and the symmetrical round tubes 310 are respectively connected to the installation vertical round rods 315; the symmetrical installation vertical round rods 315 are respectively connected to the installation strips 312, and the symmetrical installation strips 312 are respectively connected to a group of L levers 314, each of the L levers 314 is respectively connected to the cutter 313, and the two groups of L levers 314 are staggered; the symmetrical installation strips 312 are respectively rotatably connected to one end of the inner connecting rod 311, and the two inner connecting rods 311 are respectively rotatably connected to the installation plate 325, the installation plate 325 is connected to the vertical long round rod 33, the vertical long round rod 33 passes through the U plate 32, the installation plate 325 is connected to a group of distance sensors 326, and each of the installation plates 325 is respectively connected to an industrial camera 327. By adopting the detection component 3, the measurement of the crack is realized, and the distance measured by the distance sensor 326 to the position where the inclined surface of the dam body is flat and crack-free is the standard distance. The distance measured by the distance sensor 326 is greater than the standard distance, which is a crack. Through the different measurement of a group of distance sensors 326, the length and width of the crack are measured. When the measuring position is in the weed area, the outer circular block 324 first swings downward and inward from the junction of the upper straight groove of the straight groove 35 and the inner semicircular groove, and the L lever 314 gathers the weeds to the middle, and the L levers 314 on both sides overlap and overlap, so that the weeds are in the middle position of the area formed by the two groups of L levers 314, and then move downward and inward, and reversely shift the weeds to gather in the middle, and the staggered area becomes smaller, so that the cutter 313 is close to the ground, and then the outer circular block 324 moves along the lower straight groove of the straight groove 35, so that the tips of the cutters 313 on both sides first approach each other to cut off the roots of the weeds, and then move away from each other, and the L lever 314 drives the weeds away from the measuring position, which is convenient for measurement.

[0041] The straight groove 35 includes two straight grooves and two semicircular grooves. The two straight grooves are connected to the corresponding semicircular grooves respectively, so that the outer circular block 324 can move along the straight groove 35. When the outer circular block 324 is at the inner semicircular groove and one end of the straight groove, the two groups of L levers 314 can cross.

[0042] The U plate 32 is connected to the central axis of the slot rod 322 by a bearing, and the outer block 323 is respectively embedded in the slot of each slot rod 322, and each outer block 324 is respectively connected to the corresponding outer block 323 by a bearing. The central axis of one slot rod 322 is connected to the synchronous wheel 316, and the U plate 32 is connected to the central axis of another synchronous wheel 316 by a bearing. The two ends of the synchronous belt 317 surround the corresponding synchronous wheel 316 respectively, and the central axis of another synchronous wheel 316 is connected to the driven gear 318, and the central axis of another slot rod 322 is connected to the driving gear 321, and the driving gear 321 meshes with the driven gear 318. The U plate 32 is connected to the motor 320 through the motor bracket, and the output shaft of the motor 320 and the central axis of another slot rod 322 are respectively connected to the bevel gear 319, and the two bevel gears 319 mesh with each other. By using the motor 320 to drive, the gear meshing and the synchronous belt transmission are used to achieve the synchronous reverse movement of the two groups of L levers 314, which is convenient for weed processing.

[0043] It also includes four groups of adjustment components 2, the adjustment components 2 include vertical slots 21, the symmetrical guide cross bars 14 pass through the corresponding vertical slots 21, the vertical slots 21 are provided with upper blocks 22 and lower blocks 27, the upper blocks 22 are rotatably connected to one end of the upper connecting rod 23, the lower blocks 27 are rotatably connected to the center of the middle connecting rod 24, the lower end of the vertical slot 21 is rotatably connected to one end of the lower connecting rod 28, the other end of the upper connecting rod 23 and the other end of the lower connecting rod 28 are rotatably connected to one end of the middle connecting rod 24, the lower blocks 27 are connected to the power round rod 26, the U plate 32 is provided with symmetrical wide slots 34, the power round rod 26 is nested in the wide slots 34, and the upper blocks 22 are connected to the power round blocks 25. By adopting the adjustment components 2, the detection components 3 and the frame components 1 can be adjusted in the height direction, which is convenient for crossing obstacles.

[0044] It also includes four groups of walking components 4, the walking components 4 include mounting vertical rods 41, the mounting vertical rods 41 are connected to the corresponding upper blocks 22, the mounting vertical rods 41 pass through the corresponding lower blocks 27 and the vertical slots 21, the mounting vertical rods 41 are connected to the housing 42, the housing 42 is connected to the steering gear 43, the output shaft of the steering gear 43 passes through the housing 42 and is connected to the U-shaped wheel seat 44, and the U-shaped wheel seat 44 is connected to the wheel 45 by the bearing. By adopting the walking components 4, it is convenient to realize the movement of the device along the inclined surface of the dam body, and by adopting the steering gear 43, the wheel 45 is rotated, which is convenient for the device to move along the length direction of the dam body.

[0045] The carriage 12 is connected to symmetrical electric push rods 6, and the push rods of the symmetrical electric push rods 6 are respectively connected to the transverse grooves 61, and the corresponding power round blocks 25 are respectively embedded in the symmetrical transverse grooves 61. By using the electric push rods 6, power is provided for the movement of the detection component 3 and the frame component 1 in the height direction.

[0046] The symmetrical transverse grooves 61 are connected to the obstacle avoidance cameras 5 respectively. The obstacle avoidance camera 5 adopts the existing technology to realize autonomous obstacle avoidance by sensing and analyzing the surrounding environment. By sending high-frequency electromagnetic waves and receiving reflected signals, the detection of surrounding obstacles and distance calculation are realized. The laser radar obstacle avoidance sends laser beams and receives reflected signals to realize high-precision detection and distance calculation.

[0047] It also includes two electric hoists 8 , the two electric hoists 8 are respectively connected to the electric hoist mounting plate 81 , and the steel wire ropes of the two electric hoists 8 are respectively connected to the corresponding hanging rings 11 .

[0048] A controller is installed in the carriage 12 , and the motor 320 , the distance sensor 326 , the industrial camera 327 , the servo 43 , the obstacle avoidance camera 5 , and the electric push rod 6 are electrically connected to the controller respectively.

[0049] The electric hoist mounting plate 81 is mounted on the moving mechanism, and the moving mechanism can move along the dam body and can drive the electric hoist mounting plate 81 to rise, fall and swing.

[0050] A main controller is installed in the mobile mechanism, the electric hoist 8 is electrically connected to the main controller, and the controller is wirelessly connected to the main controller.

[0051] The workflow of this embodiment is:

[0052] In the initial state, the outer circular block 324 is located at the junction of the outer semicircular groove of the straight groove 35 and the lower straight groove, and the L lever 314 is away from each other. The distance sensor 326 measures the distance to the flat and crack-free position of the dam body slope as the standard distance.

[0053] Place the wheel 45 on the inclined surface of the dam body, keep the cutter 313 close to the dam body, operate the electric hoist 8, and move the device along the inclined surface of the dam body. When the industrial camera 327 identifies a crack, a set of distance measuring sensors 326 measures the distance to the inclined surface of the dam body. If the distance measured by the distance measuring sensor 326 is greater than the standard distance, it is a crack, so the length and width of the crack can be measured.

[0054] When the obstacle avoidance camera 5 detects grass (the height of grass suitable for processing does not exceed the height of the L lever 314), the controller controls the electric push rod 6 to extend. Relative to the carriage 12, the electric push rod 6 drives the transverse groove 61 and the obstacle avoidance camera 5 to move downward, the transverse groove 61 drives the power round block 25 to move, the power round block 25 drives the upper block 22 to move downward, the upper block 22 drives the upper connecting rod 23 to swing, the upper connecting rod 23 drives the middle connecting rod 24 to swing, the middle connecting rod 24 drives the lower block 27 to move, the middle connecting rod 24 drives the lower connecting rod 28 to swing, the lower block 27 drives the power round rod 26 to move in the wide groove 34, the power round rod 26 drives the detection component 3 to move downward, the upper block 22 drives the walking component 4 to move downward, so that the cutter 313 is higher than the grass, and the motor 320 is controlled to rotate, the motor 320 drives a bevel gear 319 to rotate, the two bevel gears 319 mesh and rotate, drive the driving gear 321 and a slot rod 322 to rotate, the driving gear 321 drives The driven gear 318 and a synchronous wheel 316 rotate, and the synchronous wheel 316 drives another synchronous wheel 316 and another slot rod 322 to rotate through the synchronous belt 317. The slot rod 322 drives the outer block 323 to swing, and the outer block 323 drives the outer circular block 324 to move along the straight groove 35. The outer circular block 324 drives the inner block 38 to move along the inner slide groove 37. When the outer circular block 324 moves along the semicircular groove of the straight groove 35, the inner block 38 drives the inner slide groove 37 along the vertical circular rod. 36 moves, the inner square block 38 drives the inner round rod 39, the round tube 310, the installation vertical round rod 315, the installation strip 312, the L lever 314 and the cutter 313 to move, the inner round rod 39 drives the inner connecting rod 311 to swing, the inner connecting rod 311 drives the mounting plate 325, the distance sensor 326 and the industrial camera 327 to move, the mounting plate 325 drives the vertical round rod 36 to move along the U plate 32, so that the outer round block 324 is at the junction of the inner semicircular groove of the straight groove 35 and the lower straight groove, as shown in FIG. Fig.11 The moving mechanism is controlled to drive the electric hoist 8 to swing, so that the steel wire rope remains parallel to the inclined surface of the dam body, the electric hoist 8 is controlled to release the steel wire rope, so that the mounting plate 325 is directly opposite to the center of the grass, the electric push rod 6 is controlled to fully retract, and the moving mechanism is controlled to drive the electric hoist 8 to swing, so that the steel wire rope remains parallel to the inclined surface of the dam body, the motor 320 is controlled to rotate, so that the L lever 314 moves the grass inward to the center position, the cutter 313 cuts off the grass root part, and drives part of the grass to move to both sides, which is convenient for the distance sensor 326 to measure.

[0055] When the obstacle avoidance camera 5 detects a stone, the electric hoist 8 is controlled to stop releasing the wire rope, the control motor 320 is rotated, and the L lever 314 drives the stone to move. When the stone cannot move, the wire rope sags, proving that the stone is integrated with the dam body. The electric hoist 8 is controlled to retract the wire rope, the L lever 314 is moved away from the stone, and the electric push rod 6 is controlled to extend to cross the stone.

[0056] Embodiment 2: This embodiment is further described on the basis of embodiment 1, and the carriage 12 is provided with two sets of symmetrical inclined grooves 15, and the corresponding power round blocks 25 are respectively nested in each inclined groove 15. By providing the inclined grooves 15, the adjustment components 2 are separated from each other, which is convenient for crossing obstacles. The higher the height of the carriage 12, the farther the distance between the wheels 45 on both sides is, and the safer it is.

[0057] The workflow of this embodiment is:

[0058] When the electric push rod 6 is extended and retracted, the power round block 25 is driven to move along the inclined slot 15, so that the adjustment component 2 and the travel component 4 can move outward or inward. At this time, it is necessary to control the steering engine 43 to rotate so that the wheel 45 rotates 90 degrees, so that the adjustment component 2 and the travel component 4 can move outward or inward, and the adjustment component 2 and the travel component 4 can pass over the grass and stones.

[0059] Embodiment 3: This embodiment is further described on the basis of embodiment 1, and the U plate 32 is connected to the collecting trough 7 by installing a vertical long rod. By setting the collecting trough 7, it is convenient to collect the cut weeds and gravel.

[0060] The workflow of this embodiment is:

[0061] After the cutter 313 cuts off the grass root, the cutter 313 and the L lever 314 drive part of the grass to move backward and push it into the collecting trough 7. When the L lever 314 drives the stone to move, it is convenient to push the stone into the collecting trough 7.

[0062] The device uses an industrial camera 327 to identify cracks, and a set of distance sensors 326 measure the distance to the slope of the dam body. The distance measured by the distance sensor 326 is greater than the standard distance, which is a crack, so as to measure the length and width of the crack. When processing the weed area, the L lever 314 gathers the weeds to the middle, and the L levers 314 on both sides overlap and stagger, so that the weeds are in the middle position of the area formed by the two sets of L levers 314, and then the weeds are shifted in the opposite direction to gather to the middle, and the staggered area becomes smaller, so that the cutter 313 is close to the ground, and the tips of the cutters 313 on both sides are close to each other to cut off the roots of the weeds, and then move away from each other. The L lever 314 drives the weeds away from the measurement position, which is convenient for measurement. When processing weeds, the industrial camera 327 moves in the vertical direction, which is convenient for dynamic observation of the crack area and expansion of the detection range, and is easy to use.

[0063] The device adopts the walking assembly 4 to facilitate the movement of the device along the inclined surface of the dam body to detect cracks. The steering gear 43 is provided to realize the rotation of the wheel 45, so that the device can move along the length direction of the dam body. Then, the device can switch from detecting from top to bottom to detecting from bottom to top, so as to facilitate continuous detection. It is also convenient to avoid obstacles.

[0064] Although the above describes the specific implementation mode of the invention in conjunction with the drawings, it is not intended to limit the scope of protection of the invention. Based on the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present invention.

Claims

1. A device for detecting cracks in a dam of a hydraulic engineering project, characterized in that: include: A frame assembly (1) and a detection assembly (3); The frame assembly (1) comprises a carriage (12), one end of the carriage (12) being connected to a symmetrical hanging ring (11), the carriage (12) being connected to two groups of symmetrical mounting blocks (13), each of the mounting blocks (13) being respectively connected to a guide cross bar (14); The detection assembly (3) comprises a U-plate (32), the U-plate (32) being provided with two groups of symmetrical straight grooves (35), the U-plate (32) being connected to symmetrical guide vertical rods (31), the symmetrical guide vertical rods (31) respectively passing through the bottom plate of the carriage (12) and being arranged in the carriage (12), the U-plate (32) being connected to two groups of symmetrical vertical round rods (36), each of the vertical round rods (36) respectively passing through an inner slide groove (37); Inner square blocks (38) are respectively nested in the symmetrical inner slide grooves (37); each inner square block (38) is respectively connected to an outer circular block (324); each outer circular block (324) is respectively nested in the corresponding straight-mouth groove (35); each inner square block (38) is respectively connected to an inner circular rod (39); each inner circular rod (39) is respectively connected to a circular tube (310); and the symmetrical circular tubes (310) are respectively connected to the mounting vertical circular rods (315); The symmetrical mounting vertical round rods (315) are respectively connected to the mounting long strips (312), the symmetrical mounting long strips (312) are respectively connected to a group of L levers (314), each of the L levers (314) is respectively connected to the cutting blade (313), and the two groups of L levers (314) are staggeredly distributed; The symmetrical mounting strips (312) are respectively rotatably connected to one end of the inner connecting rod (311), and the two inner connecting rods (311) are respectively rotatably connected to the mounting plates (325), the mounting plates (325) are connected to the vertical long round rods (33), the vertical long round rods (33) pass through the U plate (32), the mounting plates (325) are connected to a group of distance measuring sensors (326), and each mounting plate (325) is respectively connected to an industrial camera (327).

2. A hydraulic engineering dam crack detection device according to claim 1, characterized in that: The U plate (32) is bearing-connected to the central axis of the slot rod (322); an outer block (323) is respectively nested in the slot of each slot rod (322); each outer block (324) is bearing-connected to the corresponding outer block (323); the central axis of one slot rod (322) is connected to the synchronous wheel (316); the U plate (32) is bearing-connected to the central axis of another synchronous wheel (316); two ends of the synchronous belt (317) respectively surround the corresponding synchronous wheel (316); the central axis of another synchronous wheel (316) is connected to a driven gear (318); the central axis of another slot rod (322) is connected to a driving gear (321); the driving gear (321) meshes with the driven gear (318); the U plate (32) is connected to the motor (320) via a motor bracket; the output shaft of the motor (320) and the central axis of another slot rod (322) are respectively connected to a bevel gear (319); the two bevel gears (319) mesh with each other.

3. A hydraulic engineering dam crack detection device according to claim 2, characterized in that: The invention also comprises four groups of adjustment components (2), wherein the adjustment components (2) comprise vertical slots (21), wherein the symmetrical guide cross bars (14) respectively pass through the corresponding vertical slots (21), wherein an upper block (22) and a lower block (27) are arranged in the vertical slots (21), wherein the upper block (22) is rotatably connected to one end of an upper connecting rod (23), wherein the lower block (27) is rotatably connected to the center of a middle connecting rod (24), wherein the lower end of the vertical slot (21) is rotatably connected to one end of a lower connecting rod (28), wherein the other end of the upper connecting rod (23) and the other end of the lower connecting rod (28) are respectively rotatably connected to one end of the middle connecting rod (24), wherein the lower block (27) is connected to a power round rod (26), wherein the U plate (32) is provided with symmetrical wide slots (34), wherein the power round rod (26) is nested in the wide slots (34), and wherein the upper block (22) is connected to a power round block (25).

4. A hydraulic engineering dam crack detection device according to claim 3, characterized in that: The invention also comprises four groups of walking components (4), wherein the walking components (4) comprise a mounting vertical rod (41), the mounting vertical rod (41) being connected to the corresponding upper block (22), the mounting vertical rod (41) passing through the corresponding lower block (27) and the vertical slot (21), the mounting vertical rod (41) being connected to a housing (42), the housing (42) being connected to a steering gear (43), an output shaft of the steering gear (43) passing through the housing (42) being connected to a U-shaped wheel seat (44), and a bearing of the U-shaped wheel seat (44) being connected to a wheel (45).

5. A hydraulic engineering dam crack detection device according to claim 3, characterized in that: The carriage (12) is provided with two groups of symmetrical inclined grooves (15), and a corresponding power round block (25) is respectively nested in each inclined groove (15).

6. A hydraulic engineering dam crack detection device according to claim 3, characterized in that: The carriage (12) is connected to symmetrical electric push rods (6), the push rods of the symmetrical electric push rods (6) are respectively connected to transverse grooves (61), and the corresponding power round blocks (25) are respectively nested in the symmetrical transverse grooves (61).

7. A hydraulic engineering dam crack detection device according to claim 6, characterized in that: The symmetrical transverse grooves (61) are respectively connected to obstacle avoidance cameras (5).

8. The device for detecting cracks in a dam of a hydraulic engineering project according to claim 1, characterized in that: The U plate (32) is connected to the collection tank (7) by installing a vertical long rod.

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