Intelligent inspection method, device, equipment and medium for high arch dam stilling pool

Abstract

The present application provides a method, device, equipment and medium for intelligent inspection of a stilling pool of a high arch dam, and relates to the field of underwater detection technology. The method comprises: collecting a tomographic image of the bottom plate of the stilling pool to be inspected through a first acquisition device; conducting a first census of the bottom plate of the stilling pool to be inspected based on the tomographic image of the bottom plate; collecting an apparent image of the bottom plate of the stilling pool to be inspected through a second acquisition device based on the inspection result of the first census; obtaining an inspection result of a second detailed inspection based on the apparent image; collecting a fine image of the bottom plate of the stilling pool to be inspected through a third acquisition device based on the inspection result of the second detailed inspection; and obtaining an inspection result of a third fine inspection based on the fine image. When inspecting the stilling pool, the present application combines the first census, the second detailed inspection and the third fine inspection, thereby realizing efficient collection, identification and health diagnosis of defects in the bottom plate of the stilling pool in a complex underwater environment.

Description

Technical Field

[0001] The present application relates to the field of underwater detection technology, and in particular to an intelligent inspection method, device, equipment and medium for a high arch dam stilling pool. Background Art

[0002] With the vigorous development of my country's water conservancy and hydropower industry, arch dams have gradually become one of the mainstream dam types for large hydropower stations. In order to ensure the safety of the project itself and protect the lives and property of people downstream, flood discharge and energy dissipation are one of the most noteworthy issues in arch dam construction.

[0003] Especially for high arch dams, their flood discharge and energy dissipation methods have the characteristics of "three major and one narrow". The "three major" refers to high head, large flow and large flood discharge power during flood discharge, and the "one narrow" refers to narrow river valley. At present, high arch dams usually adopt the method of flood discharge of dam body, by arranging surface holes, deep holes and other hole structures inside the dam body, and setting up two dams downstream of the dam body to raise the downstream water level to form an energy dissipation pool (also known as water cushion pond). During flood discharge, the reservoir water flows down from the dam body and impacts the water cushion, and the energy dissipation purpose is achieved through the water body in the energy dissipation pool. This energy dissipation method has the characteristics of safety and economy, and has been applied in many projects. Due to the long-term impact of the reservoir water discharge on the energy dissipation pool, coupled with the combined influence of many unfavorable factors such as earthquakes, excessive floods, and external environment, the concrete of the bottom slab of the energy dissipation pool will inevitably have problems such as erosion, scouring, and cracks. At the same time, a large amount of sediment will accumulate at the bottom of the energy dissipation pool that has been in operation for a long time, which directly affects the long-term safe and stable operation and service life of the energy dissipation pool.

[0004] At present, underwater detection of concrete in energy-dissipating pools of large hydropower stations is mainly carried out through manual inspections by divers. Due to the complex underwater environment, vortices are easily formed at leakage points of the bottom slab concrete, threatening the lives of divers. In addition, divers have limited working time and diving depth, which cannot meet the needs of large-scale and long-term inspections. Moreover, divers lack professional knowledge and have high labor costs, making it difficult to achieve professional and standardized detection accuracy.

[0005] Therefore, a new intelligent inspection method for high arch dam stilling pools is urgently needed. Summary of the invention

[0006] In view of the above problems, the embodiments of the present application provide a method, device, equipment and medium for intelligent inspection of a high arch dam stilling pool, so as to overcome the above problems or at least partially overcome the above problems.

[0007] In a first aspect, the present application provides an intelligent inspection method for a high arch dam stilling pool, the method comprising:

[0008] Collecting a tomographic image of the bottom plate of the energy dissipation pool to be inspected by a first acquisition device;

[0009] According to the tomographic image of the bottom plate, a first census is conducted on the bottom plate of the energy stilling pool to be inspected, and an inspection result of the first census is obtained;

[0010] According to the inspection result of the first census, the surface image of the bottom plate of the energy dissipation pool to be inspected is collected by a second collection device;

[0011] According to the surface image, a second detailed inspection is performed on the bottom plate of the energy dissipation pool to be inspected, and an inspection result of the second detailed inspection is obtained;

[0012] According to the inspection result of the second detailed inspection, a detailed image of the bottom plate of the energy dissipation pool to be inspected is collected by a third collection device;

[0013] According to the fine image, a third fine inspection is performed on the bottom plate of the energy dissipation pool to be inspected, and an inspection result of the third fine inspection is obtained;

[0014] Defects of the bottom plate of the energy dissipation pool to be inspected are determined based on the inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third detailed inspection.

[0015] Optionally, the determining of defects of the bottom plate of the energy dissipation pool to be inspected according to the inspection result of the first general survey, the inspection result of the second detailed inspection and the inspection result of the third detailed inspection includes:

[0016] The inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection are integrated to obtain the integrated inspection results of the energy dissipation pool to be inspected;

[0017] According to the fused inspection result of the energy dissipation pool to be inspected, the defect position, defect type and defect scale of the bottom plate of the energy dissipation pool to be inspected are determined.

[0018] Optionally, the first acquisition device is a multi-beam underwater three-dimensional sonar device; the step of acquiring the tomographic image of the bottom plate of the energy dissipation pool to be inspected by the first acquisition device includes:

[0019] Collecting multi-beam ultrasonic data of the bottom plate of the energy dissipation pool to be inspected by the multi-beam underwater three-dimensional sonar device;

[0020] The tomographic image of the bottom plate of the energy dissipation pool to be inspected is drawn based on the multi-beam ultrasonic data.

[0021] Optionally, the first census is conducted on the bottom plate of the energy stilling pool to be inspected according to the tomographic image of the bottom plate to obtain the inspection result of the first census, including:

[0022] Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0023] Marking a defect area from the tomographic image, and performing image feature analysis on the defect area;

[0024] Determine the defect type, defect location and defect scale of the first type of defect in the defect area according to the image feature analysis result of the defect area and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0025] The defect type, defect location and defect scale of the first type of defects in the defect area are used as the inspection result of the first census.

[0026] Optionally, the second acquisition device is an underwater unmanned submersible; the process of acquiring the surface image of the bottom plate of the energy dissipation pool to be inspected by the second acquisition device according to the inspection result of the first census includes:

[0027] Determining the first survey line layout of the underwater unmanned submersible according to the inspection results of the first census;

[0028] By means of the underwater unmanned submersible, a two-dimensional sonar image of the bottom plate of the energy dissipation pool to be inspected is collected according to the first inspection path planned by the first survey line layout;

[0029] According to the two-dimensional sonar image, the defective area of ​​the bottom plate of the energy dissipation pool to be inspected is determined, and the surface image of the defective area is collected by the underwater unmanned submersible.

[0030] Optionally, the second detailed inspection of the bottom plate of the energy dissipation pool to be inspected is performed according to the surface image to obtain the inspection result of the second detailed inspection, including:

[0031] Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0032] Performing image feature analysis on the apparent image of the defect area to obtain an image feature analysis result of the apparent image;

[0033] Determine the defect type, defect location and defect scale of the second type of defect in the defect area according to the image feature analysis result of the surface image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0034] The defect type, defect location and defect scale of the second type of defects in the defect area are used as the inspection result of the second detailed inspection.

[0035] Optionally, the third acquisition device is a dual-mode underwater inspection robot, and the step of acquiring a fine image of the bottom plate of the energy dissipation pool to be inspected by the third acquisition device according to the inspection result of the second detailed inspection includes:

[0036] Determining a second survey line arrangement of the dual-mode underwater inspection robot according to the inspection result of the second detailed inspection;

[0037] By using the dual-mode underwater inspection robot, according to the second inspection path arranged and planned by the second survey line, a preset target area on the second inspection path is desilted and water replaced;

[0038] The dual-modal underwater inspection robot is used to collect a detailed image of the preset target area after the dredging-water body replacement process.

[0039] Optionally, performing a third fine inspection on the bottom plate of the energy dissipation pool to be inspected based on the fine image to obtain an inspection result of the third fine inspection includes:

[0040] Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0041] Performing image feature analysis on the fine image to obtain an image feature analysis result of the fine image;

[0042] Determine the defect type, defect location and defect scale of the third type of defects in the fine image according to the image feature analysis result of the fine image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0043] The defect type, defect location and defect scale of the third type of defects in the fine image are used as the inspection result of the third fine inspection.

[0044] Optionally, after the energy dissipation pool to be inspected is pumped out and dredged, the method further comprises:

[0045] Performing a full coverage scan of the bottom plate of the energy dissipation pool to be inspected by a three-dimensional laser scanner to obtain three-dimensional data of the bottom plate of the energy dissipation pool to be inspected;

[0046] Performing data analysis on the three-dimensional data of the bottom plate of the energy dissipation pool to be inspected, and determining the three-dimensional data of defects of the bottom plate of the energy dissipation pool to be inspected;

[0047] According to the three-dimensional data of defects of the bottom plate of the energy dissipation pool to be inspected, the inspection results of the first general inspection, the inspection results of the second detailed inspection and the inspection results of the third fine inspection are verified respectively.

[0048] In a second aspect of the present application, an intelligent inspection device for a high arch dam stilling pool is provided, the device comprising:

[0049] A first acquisition module is used to acquire a tomographic image of the bottom plate of the energy dissipation pool to be inspected through a first acquisition device;

[0050] A first survey module is used to conduct a first survey on the bottom plate of the energy dissipation pool to be inspected according to the tomographic image of the bottom plate, and obtain the inspection result of the first survey;

[0051] A second acquisition module is used to acquire the surface image of the bottom plate of the energy dissipation pool to be inspected through a second acquisition device according to the inspection result of the first census;

[0052] A second detailed inspection module is used to perform a second detailed inspection on the bottom plate of the energy dissipation pool to be inspected according to the surface image, and obtain the inspection result of the second detailed inspection;

[0053] A third acquisition module is used to acquire a detailed image of the bottom plate of the energy dissipation pool to be inspected through a third acquisition device according to the inspection result of the second detailed inspection;

[0054] A third fine inspection module is used to perform a third fine inspection on the bottom plate of the energy dissipation pool to be inspected according to the fine image, and obtain the inspection result of the third fine inspection;

[0055] The determination module is used to determine the defects of the bottom plate of the energy dissipation pool to be inspected according to the inspection results of the first general inspection, the inspection results of the second detailed inspection and the inspection results of the third detailed inspection.

[0056] Optionally, the defects of the bottom plate of the energy dissipation pool to be inspected are determined according to the inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection, and the determination module includes:

[0057] A fusion submodule, used to fuse the inspection results of the first census, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection to obtain a fused inspection result of the energy dissipation pool to be inspected;

[0058] The first determination submodule is used to determine the defect position, defect type and defect scale of the bottom plate of the energy dissipation pool to be inspected according to the fused inspection result of the energy dissipation pool to be inspected.

[0059] Optionally, the first acquisition device is a multi-beam underwater three-dimensional sonar device; the tomographic image of the bottom plate of the energy dissipation pool to be inspected is acquired by the first acquisition device, and the first acquisition module includes:

[0060] A first acquisition submodule is used to collect multi-beam ultrasonic data of the bottom plate of the energy dissipation pool to be inspected through the multi-beam underwater three-dimensional sonar device;

[0061] The drawing submodule is used to draw the tomographic image of the bottom plate of the energy dissipation pool to be inspected according to the multi-beam ultrasonic data.

[0062] Optionally, the first census is conducted on the bottom plate of the energy dissipation pool to be inspected according to the tomographic image of the bottom plate to obtain the inspection result of the first census, and the first census module includes:

[0063] The first acquisition submodule is used to acquire the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0064] A first feature analysis submodule, used for marking defect areas from the tomographic image and performing image feature analysis on the defect areas;

[0065] The second determination submodule is used to determine the defect type, defect location and defect scale of the first type of defect in the defect area according to the image feature analysis result of the defect area and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0066] The third determination submodule is used to use the defect type, defect location and defect scale of the first type of defects in the defect area as the inspection result of the first census.

[0067] Optionally, the second acquisition device is an underwater unmanned submersible; according to the inspection result of the first census, the surface image of the bottom plate of the energy dissipation pool to be inspected is collected by the second acquisition device, and the second acquisition module includes:

[0068] A fourth determination submodule is used to determine the first survey line layout of the underwater unmanned submersible according to the inspection result of the first census;

[0069] A second acquisition submodule is used to acquire a two-dimensional sonar image of the bottom plate of the energy dissipation pool to be inspected by using the underwater unmanned submersible according to the first inspection path planned by the first survey line layout;

[0070] The fifth determination submodule is used to determine the defective area of ​​the bottom plate of the energy dissipation pool to be inspected according to the two-dimensional sonar image, and collect the surface image of the defective area through the underwater unmanned submersible.

[0071] Optionally, the bottom plate of the energy dissipation pool to be inspected is subjected to a second detailed inspection based on the surface image to obtain an inspection result of the second detailed inspection, and the second detailed inspection module includes:

[0072] The second acquisition submodule is used to acquire the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0073] A second feature analysis submodule is used to perform image feature analysis on the apparent image of the defect area to obtain an image feature analysis result of the apparent image;

[0074] Determine the defect type, defect location and defect scale of the second type of defect in the defect area according to the image feature analysis result of the surface image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0075] The sixth determination submodule is used to use the defect type, defect location and defect scale of the second type of defects in the defect area as the inspection result of the second detailed inspection.

[0076] Optionally, the third acquisition device is a dual-mode underwater inspection robot, and according to the inspection result of the second detailed inspection, a fine image of the bottom plate of the energy dissipation pool to be inspected is collected by the third acquisition device, and the third acquisition module includes:

[0077] A seventh determination submodule is used to determine the second survey line arrangement of the dual-mode underwater inspection robot according to the inspection result of the second detailed inspection;

[0078] a processing submodule, configured to perform dredging-water replacement processing on a preset target area on the second inspection path according to the second inspection path arranged and planned by the second survey line by the dual-mode underwater inspection robot;

[0079] The third acquisition submodule is used to acquire a fine image of the preset target area after dredging and water replacement processing by using the dual-modal underwater detection robot.

[0080] Optionally, the third fine inspection is performed on the bottom plate of the energy dissipation pool to be inspected according to the fine image to obtain the inspection result of the third fine inspection, and the third fine inspection module includes:

[0081] The third acquisition submodule is used to acquire the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0082] A third feature analysis submodule is used to perform image feature analysis on the fine image to obtain an image feature analysis result of the fine image;

[0083] an eighth determination submodule, for determining the defect type, defect location and defect scale of the third type of defects in the fine image according to the image feature analysis result of the fine image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0084] The ninth determination submodule is used to use the defect type, defect location and defect scale of the third type of defects in the fine image as the inspection result of the third fine inspection.

[0085] Optionally, the device further comprises:

[0086] A scanning submodule is used to perform a full coverage scan of the bottom plate of the energy dissipation pool to be inspected by using a three-dimensional laser scanner to obtain three-dimensional data of the bottom plate of the energy dissipation pool to be inspected;

[0087] A data analysis submodule, used for performing data analysis on the three-dimensional data of the bottom plate of the energy dissipation pool to be inspected, and determining the three-dimensional data of defects of the bottom plate of the energy dissipation pool to be inspected;

[0088] The verification submodule is used to verify the inspection results of the first general inspection, the second detailed inspection and the third fine inspection according to the three-dimensional data of the defects of the bottom plate of the energy dissipation pool to be inspected.

[0089] In a third aspect of the present application, a device for an intelligent inspection method for a high arch dam stilling pool is provided, comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement an intelligent inspection method for a high arch dam stilling pool as described in the first aspect of the present application.

[0090] In a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, an intelligent inspection method for a high arch dam stilling pool as described in the first aspect of the present application is implemented.

[0091] Beneficial effects of this application:

[0092] An embodiment of the present application provides an intelligent inspection method for a high arch dam stilling pool, the method comprising: acquiring a tomographic image of a bottom plate of the stilling pool to be inspected by a first acquisition device; conducting a first census on the bottom plate of the stilling pool to be inspected based on the tomographic image of the bottom plate, and obtaining an inspection result of the first census; acquiring an apparent image of the bottom plate of the stilling pool to be inspected by a second acquisition device based on the inspection result of the first census; conducting a second detailed inspection on the bottom plate of the stilling pool to be inspected based on the apparent image, and obtaining an inspection result of the second detailed inspection; acquiring a fine image of the bottom plate of the stilling pool to be inspected by a third acquisition device based on the inspection result of the second detailed inspection; conducting a third fine inspection on the bottom plate of the stilling pool to be inspected based on the fine image, and obtaining an inspection result of the third fine inspection; determining defects of the bottom plate of the stilling pool to be inspected based on the inspection result of the first census, the inspection result of the second detailed inspection, and the inspection result of the third fine inspection. When inspecting the energy dissipation pool, this application combines the first general survey, the second detailed inspection, and the third meticulous inspection, thereby achieving efficient collection, identification and health diagnosis of defects in the bottom plate of the energy dissipation pool in a complex underwater environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0094] Figure 1 It is a schematic diagram of the steps of a method for intelligent inspection of a high arch dam stilling pool provided in an embodiment of the present application;

[0095] Figure 2 is a schematic diagram of a tomographic image of a bottom plate of an energy dissipation pool to be inspected provided in an embodiment of the present application;

[0096] Figure 3 It is a schematic diagram of the survey line arrangement of an underwater unmanned submersible provided in an embodiment of the present application;

[0097] Figure 4 This is a schematic diagram of the third detailed inspection of a dual-mode underwater inspection robot provided in an embodiment of the present application;

[0098] Figure 5 It is a logic block diagram of a high arch dam stilling pool intelligent inspection method provided by an embodiment of the present application and a schematic diagram of a corresponding acquisition device;

[0099] Figure 6It is a schematic diagram of an intelligent inspection device for a high arch dam stilling pool provided in an embodiment of the present application;

[0100] Figure 7 It is a schematic diagram of a device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0101] The exemplary embodiments of the present application will be described in more detail below in conjunction with the accompanying drawings in the embodiments of the present application. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to enable the scope of the present application to be fully communicated to those skilled in the art.

[0102] In a first aspect of the present application, a method for intelligent inspection of a high arch dam stilling pool is provided. Figure 1 As shown, the method includes:

[0103] Step S101, collecting a tomographic image of the bottom plate of the energy dissipation pool to be inspected by a first collecting device;

[0104] In this step, a large-scale scanning and image acquisition is performed on the underwater environment of the stilling basin through the first acquisition device, which can fully capture the structural features of the bottom plate, thereby obtaining a tomographic image of the bottom plate of the stilling basin.

[0105] Step S102, performing a first census on the bottom plate of the energy stilling pool to be inspected according to the tomographic image of the bottom plate, and obtaining an inspection result of the first census;

[0106] In this step, based on the tomographic image of the bottom plate of the energy dissipation pool, a first census is conducted on the bottom plate of the energy dissipation pool to be inspected, and the inspection results of the first census are obtained; in actual applications, the first census can analyze the tomographic image through a preset automatic algorithm, preliminarily screen out areas that may have abnormalities, and ensure that potential defects are quickly located in complex underwater environments.

[0107] Step S103, collecting the surface image of the bottom plate of the energy dissipation pool to be inspected by a second acquisition device according to the inspection result of the first census;

[0108] In this step, based on the inspection results of the first census, the surface image of the bottom plate of the energy dissipation pool to be inspected is collected through the second acquisition device; it should be noted that the second acquisition device usually has a higher ability to capture surface details and can more clearly present the specific conditions of the bottom plate surface, thereby making up for the defects missed in the first census.

[0109] Step S104, performing a second detailed inspection on the bottom plate of the energy dissipation pool to be inspected according to the surface image, and obtaining the inspection result of the second detailed inspection;

[0110] In this step, based on the apparent image of the bottom plate of the energy dissipation pool collected by the second acquisition device, a second detailed inspection is carried out on the bottom plate of the energy dissipation pool to be inspected, and the inspection result of the second detailed inspection is obtained; the second detailed inspection further refines the inspection scope, and through a detailed analysis of the apparent image, confirms and records the abnormal conditions on the surface of the bottom plate, providing detailed information for the next detailed inspection.

[0111] Step S105, collecting a detailed image of the bottom plate of the energy dissipation pool to be inspected by a third acquisition device according to the inspection result of the second detailed inspection;

[0112] In this step, based on the inspection results of the second detailed inspection, a third acquisition device is used to collect a fine image of the bottom plate of the energy dissipation pool to be inspected; the third acquisition device can be a visual inspection device that can operate in complex environments such as siltation and turbid water, and can capture the fine structure of the bottom plate at the microscopic level, providing high-precision image data for the final fine inspection.

[0113] Step S106, performing a third fine inspection on the bottom plate of the energy dissipation pool to be inspected according to the fine image, and obtaining an inspection result of the third fine inspection.

[0114] In this step, the bottom plate of the energy dissipation pool to be inspected is subjected to a third detailed inspection based on the detailed image collected by the third acquisition device, and the inspection result of the third detailed inspection is obtained. In practical applications, the third detailed inspection will be combined with the results of the first two inspections, and the detailed image will be comprehensively analyzed using a preset high-precision algorithm and a preset expert system to determine the defects of the bottom plate of the energy dissipation pool to be inspected, and finally confirm the health status and specific problems of the bottom plate, providing a detailed basis for maintenance and repair work. Through the above steps, this method realizes a step-by-step in-depth inspection from general survey to detailed inspection to detailed inspection, ensuring the safe operation of the high arch dam energy dissipation pool.

[0115] Step S107, determining defects of the bottom plate of the energy dissipation pool to be inspected according to the inspection results of the first general inspection, the inspection results of the second detailed inspection and the inspection results of the third detailed inspection.

[0116] When inspecting the energy dissipation pool, this application combines the first general survey, the second detailed inspection, and the third meticulous inspection, thereby achieving efficient collection, identification and health diagnosis of defects in the bottom plate of the energy dissipation pool in a complex underwater environment.

[0117] In a preferred embodiment, the inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection are integrated to obtain the integrated inspection results of the energy dissipation pool to be inspected;

[0118] According to the fused inspection result of the energy dissipation pool to be inspected, the defect position, defect type and defect scale of the bottom plate of the energy dissipation pool to be inspected are determined.

[0119] Specifically, in this embodiment, the inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection are integrated to obtain the integrated inspection results of the energy dissipation pool to be inspected; in practical applications, data fusion technology can be used to comprehensively analyze multi-source data collected at different stages and by different equipment, and the defects of the energy dissipation pool to be inspected can be determined in combination with each inspection result, thereby improving the accuracy and reliability of the inspection results.

[0120] In this embodiment, the inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection are integrated to generate a comprehensive inspection result, thereby obtaining an integrated inspection result for the energy dissipation pool to be inspected. Through the integrated analysis of these inspection results, the bottom plate defects of the energy dissipation pool to be inspected can be determined more comprehensively and accurately, including the defect location, defect type, and defect scale, which not only improves the accuracy and reliability of the inspection results, but also provides detailed data support for subsequent repairs and maintenance, ensuring the long-term safe and stable operation of the high arch dam energy dissipation pool.

[0121] In a preferred embodiment, the first acquisition device is a multi-beam underwater three-dimensional sonar device; the tomographic image of the bottom plate of the energy dissipation pool to be inspected is acquired by the first acquisition device, including:

[0122] Collecting multi-beam ultrasonic data of the bottom plate of the energy dissipation pool to be inspected by the multi-beam underwater three-dimensional sonar device;

[0123] The tomographic image of the bottom plate of the energy dissipation pool to be inspected is drawn based on the multi-beam ultrasonic data.

[0124] Specifically, in this embodiment, the first acquisition device is a multi-beam underwater three-dimensional sonar device; the tomographic image of the bottom plate of the energy dissipation pool to be inspected is acquired by the first acquisition device, including the following steps:

[0125] The multi-beam underwater 3D sonar device is used to collect multi-beam ultrasonic data of the bottom plate of the energy dissipation pool to be inspected; specifically, the multi-beam underwater 3D sonar device can emit and receive ultrasonic signals in multiple directions and angles, and obtain detailed echo data of the bottom plate of the energy dissipation pool to be inspected through the reflection and refraction of these signals. These ultrasonic data contain the surface structure information of the bottom plate, providing basic data for subsequent image drawing.

[0126] Based on the multi-beam ultrasonic data, a tomographic image of the bottom plate of the energy dissipation pool to be inspected is drawn; after the data collection is completed, the multi-beam ultrasonic data is converted into a tomographic image using advanced image processing algorithms and sonar data analysis technology. The tomographic image can display the bottom plate structure with high resolution and clearly show the potential defect locations of the bottom plate of the energy dissipation pool to be inspected. The tomographic image of the bottom plate of the energy dissipation pool to be inspected collected by the multi-beam underwater three-dimensional sonar device is as follows: Figure 2 As shown, the area enclosed by the dotted line is the area of ​​the first type of defects.

[0127] In a preferred embodiment, the first census is conducted on the bottom plate of the energy dissipation pool to be inspected according to the tomographic image of the bottom plate, and the inspection result of the first census is obtained, including:

[0128] Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0129] Marking a defect area from the tomographic image, and performing image feature analysis on the defect area;

[0130] Determine the defect type, defect location and defect scale of the first type of defect in the defect area according to the image feature analysis result of the defect area and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0131] The defect type, defect location and defect scale of the first type of defects in the defect area are used as the inspection result of the first census.

[0132] Specifically, the global positioning system is used to obtain the coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected. The high-precision positioning technology of the global positioning system can be used to accurately locate each point on the bottom plate, ensuring that the coordinate information of each inspection position is accurate, providing a geographic reference for subsequent defect location and analysis.

[0133] Furthermore, the defective areas are marked from the tomographic images, and image feature analysis is performed on the defective areas; the tomographic images are analyzed through advanced image processing algorithms to identify areas where defects may exist. In practical applications, image feature analysis can include detailed analysis of the shape, size, and edge features of defects such as cracks, holes, erosion, and siltation, so as to accurately describe the nature of the defects.

[0134] Furthermore, based on the image feature analysis results of the defect area and the coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected, the defect type, defect location and defect scale of the first type of defects in the defect area are determined; combined with the image feature analysis results and the point coordinate data, the specific location of each defect type on the bottom plate, as well as the actual scale and severity of the defect can be accurately determined.

[0135] The defect type, defect location and defect scale of the first type of defects in the defect area are used as the inspection results of the first census. Finally, the defect type, location and scale information obtained by analysis are summarized to form a complete inspection result of the first census, which provides an important reference for the subsequent second detailed inspection, such as Figure 2 As shown in the figure, the area enclosed by the dotted line is the area of ​​the first type of defect. Figure 2 , the defect type, defect location and defect scale of the first type of defects in the bottom plate of the energy dissipation pool to be inspected can be determined more intuitively.

[0136] In a preferred embodiment, the second acquisition device is an underwater unmanned submersible; the surface image of the bottom plate of the energy dissipation pool to be inspected is collected by the second acquisition device according to the inspection result of the first census, including:

[0137] Determining the first survey line layout of the underwater unmanned submersible according to the inspection results of the first census;

[0138] By means of the underwater unmanned submersible, a two-dimensional sonar image of the bottom plate of the energy dissipation pool to be inspected is collected according to the first inspection path planned by the first survey line layout;

[0139] According to the two-dimensional sonar image, the defective area of ​​the bottom plate of the energy dissipation pool to be inspected is determined, and the surface image of the defective area is collected by the underwater unmanned submersible.

[0140] In this embodiment, the second acquisition device is an underwater unmanned submersible; according to the inspection results of the first census, the surface image of the bottom plate of the energy dissipation pool to be inspected is collected by the second acquisition device, including the following steps:

[0141] According to the inspection results of the first survey, the first survey line layout of the underwater unmanned submersible is determined; the survey line layout of the underwater unmanned submersible is formulated using the defect area and location data obtained from the first survey to ensure that the underwater unmanned submersible can cover all key areas for efficient and comprehensive inspection. In this embodiment, the survey line layout diagram of the underwater unmanned submersible is as follows: Figure 3 As shown. Specifically: In this embodiment, by collecting the defect area and location data obtained in the first census, the bottom plate of the energy dissipation pool to be inspected is divided into several inspection areas. These areas can be divided according to the geometric shape and structural characteristics of the energy dissipation pool to ensure that each area can be covered, and then the defect areas are prioritized according to the severity and distribution density of the first type of defects. Severe and densely distributed defect areas should be given priority to ensure that these areas are covered in the survey line layout, and the inspection path of the underwater unmanned submersible is planned according to the area division and defect priority. It should be noted that the survey line should cover all defect areas and perform key scanning in these areas.

[0142] Through the underwater unmanned submersible, according to the first inspection route planned by the first survey line layout, two-dimensional sonar images of the bottom plate of the energy dissipation pool to be inspected are collected; the underwater unmanned submersible is equipped with advanced two-dimensional sonar equipment, which can accurately collect sonar images of the bottom plate of the energy dissipation pool to be inspected on the predetermined path. These images can show the surface details and potential defects of the bottom plate.

[0143] According to the two-dimensional sonar image, the defective area of ​​the bottom plate of the energy dissipation pool to be inspected is determined, and the surface image of the defective area is collected by the underwater unmanned submersible; through the analysis of the two-dimensional sonar image, the defective area of ​​the bottom plate is further confirmed and located. The underwater unmanned submersible then collects more detailed images of these defective areas and obtains high-definition surface images to provide more intuitive defect information.

[0144] In this embodiment, the efficiency and accuracy of the inspection are greatly improved by using an underwater unmanned submersible. Through detailed survey line layout and planning of inspection routes, all key areas of the energy dissipation pool floor to be inspected are covered. At the same time, the combination of two-dimensional sonar images and surface images provides comprehensive and accurate defect information, providing more detailed image data for subsequent fine inspections.

[0145] In a preferred embodiment, the bottom plate of the energy dissipation pool to be inspected is inspected for a second time according to the surface image, and the inspection result of the second detailed inspection is obtained, including:

[0146] Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0147] Performing image feature analysis on the apparent image of the defect area to obtain an image feature analysis result of the apparent image;

[0148] Determine the defect type, defect location and defect scale of the second type of defect in the defect area according to the image feature analysis result of the surface image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0149] The defect type, defect location and defect scale of the second type of defects in the defect area are used as the inspection result of the second detailed inspection.

[0150] Specifically, the global positioning system is used to obtain the coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected. The high-precision positioning technology of the global positioning system can be used to accurately locate each point on the bottom plate, ensuring that the acquired coordinate data is accurate, providing a geographic reference for defect location and analysis.

[0151] Furthermore, an image feature analysis is performed on the apparent image of the defective area to obtain an image feature analysis result of the apparent image; through an advanced image processing algorithm, the defective area in the apparent image is analyzed in detail to extract specific image features such as the shape, size, and edge features of the second type of defects.

[0152] Furthermore, based on the image feature analysis results of the surface image and the coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected, the defect type, defect location and defect scale of the second type of defects in the defect area are determined; combined with the image feature analysis results and the point coordinate data, the specific type of each defect and its exact location on the bottom plate, as well as the scale and severity of the defect can be accurately determined.

[0153] Furthermore, the defect type, defect location and defect scale of the second type of defects in the defect area are used as the inspection results of the second detailed inspection. Finally, the defect type, location and scale information obtained by analysis are summarized to form a complete inspection result of the second detailed inspection. These results provide detailed data support for subsequent detailed inspections.

[0154] In a preferred embodiment, the third acquisition device is a dual-mode underwater inspection robot, and the detailed image of the bottom plate of the energy dissipation pool to be inspected is collected by the third acquisition device according to the inspection result of the second detailed inspection, including:

[0155] Determining a second survey line arrangement of the dual-mode underwater inspection robot according to the inspection result of the second detailed inspection;

[0156] By using the dual-mode underwater inspection robot, according to the second inspection path arranged and planned by the second survey line, a preset target area on the second inspection path is desilted and water replaced;

[0157] The dual-modal underwater inspection robot is used to collect a detailed image of the preset target area after the dredging-water body replacement process.

[0158] Specifically, in this embodiment, the third acquisition device is a dual-mode underwater detection robot. According to the inspection result of the second detailed inspection, the third acquisition device is used to acquire a fine image of the bottom plate of the energy dissipation pool to be inspected, including the following steps:

[0159] According to the inspection results of the second detailed inspection, determine the second survey line layout of the dual-mode underwater inspection robot; use the defect area and location data obtained in the second detailed inspection results to plan the survey line layout of the dual-mode underwater inspection robot to ensure that the inspection robot can cover all key areas for efficient and accurate inspection. Specifically: by collecting the defect area and location data obtained in the second detailed inspection, and dividing the bottom plate of the energy dissipation pool to be inspected into several inspection areas. Prioritize the defect areas according to the severity and distribution density of the second type of defects. Give priority to serious and densely distributed defect areas. Then plan the inspection path of the dual-mode underwater inspection robot based on the defect area and location data obtained in the second detailed inspection results. Ensure that all key areas can be covered, and focus on dredging-replacement, scanning, etc. in these areas.

[0160] like Figure 4 As shown, it is a schematic diagram of the third fine inspection of a dual-modal underwater inspection robot provided in this embodiment, wherein the area circled by a solid line is the defect area that needs to be finely inspected, and a measurement line layout of the dual-modal underwater inspection robot is planned for each area.

[0161] The dual-mode underwater inspection robot performs dredging and water replacement on the preset target area on the second inspection path according to the second survey line layout plan; before fine image acquisition, the dual-mode underwater inspection robot performs dredging and water replacement on the preset target area to remove silt and impurities on the bottom plate surface to ensure that the collected image is clear and free of interference. This process can significantly improve the accuracy and reliability of the inspection results.

[0162] The dual-mode underwater inspection robot collects fine images of the preset target area after the dredging and water replacement process; after the dredging and water replacement process is completed, the dual-mode underwater inspection robot uses its high-resolution imaging equipment to collect fine images of the target area. These fine images can show the specific structure and defects of the bottom plate at a microscopic level, providing high-precision data for the final fine inspection.

[0163] In a preferred embodiment, the third fine inspection is performed on the bottom plate of the energy dissipation pool to be inspected according to the fine image to obtain the inspection result of the third fine inspection, including:

[0164] Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0165] Performing image feature analysis on the fine image to obtain an image feature analysis result of the fine image;

[0166] Determine the defect type, defect location and defect scale of the third type of defects in the fine image according to the image feature analysis result of the fine image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0167] The defect type, defect location and defect scale of the third type of defects in the fine image are used as the inspection result of the third fine inspection.

[0168] Specifically, in this embodiment, the coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected are obtained through the global positioning system; the high-precision positioning technology of the global positioning system can be used to accurately locate each point on the bottom plate, ensuring that the acquired coordinate data is accurate, providing a geographic reference for defect location and analysis.

[0169] Furthermore, image feature analysis is performed on the fine image to obtain image feature analysis results of the fine image; through advanced image processing algorithms, the defect area in the fine image is analyzed in detail to extract specific image features such as the shape, size, edge features, etc. of the third type of defects.

[0170] Furthermore, based on the image feature analysis results of the fine image and the coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected, the defect type, defect location and defect scale of the third type of defects in the fine image are determined; combined with the image feature analysis results and the point coordinate data, the specific type and specific location of each defect on the bottom plate, as well as the scale and severity of the defect can be accurately determined.

[0171] The defect type, defect location and defect scale of the third type of defects in the fine image are used as the inspection results of the third fine inspection. Finally, the defect type, location and scale information obtained by analysis are summarized to form the complete inspection results of the third fine inspection. These results provide detailed data support for the safety assessment and maintenance of the high arch dam stilling pool, ensuring that any potential defects can be discovered and repaired in a timely manner.

[0172] In a preferred embodiment, after the energy dissipation pool to be inspected is pumped out and dredged, the method further comprises:

[0173] Performing a full coverage scan of the bottom plate of the energy dissipation pool to be inspected by a three-dimensional laser scanner to obtain three-dimensional data of the bottom plate of the energy dissipation pool to be inspected;

[0174] Performing data analysis on the three-dimensional data of the bottom plate of the energy dissipation pool to be inspected, and determining the three-dimensional data of defects of the bottom plate of the energy dissipation pool to be inspected;

[0175] According to the three-dimensional data of defects of the bottom plate of the energy dissipation pool to be inspected, the inspection results of the first general inspection, the inspection results of the second detailed inspection and the inspection results of the third fine inspection are verified respectively.

[0176] Specifically, in this embodiment, a method for verifying the accuracy of the inspection results of the above three inspection methods is provided, specifically: after the energy dissipation pool to be inspected is pumped out and dredged, a three-dimensional laser scanner is used to comprehensively scan the desilted energy dissipation pool floor to obtain high-precision three-dimensional data. These data can fully reflect the real situation of the floor, including its geometric shape and surface characteristics.

[0177] Furthermore, the 3D data of the bottom plate of the energy dissipation pool to be inspected is analyzed to determine the 3D data of the defects of the bottom plate of the energy dissipation pool to be inspected; through detailed analysis of the 3D data, the 3D information of various defects on the bottom plate is identified and determined, including the specific location, depth, area, etc. of the defects. This step ensures a comprehensive understanding of the defects and provides reliable data support for subsequent verification and analysis.

[0178] Furthermore, based on the three-dimensional data of the defects of the bottom plate of the energy dissipation pool to be inspected, the inspection results of the first general inspection, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection are verified respectively. The obtained three-dimensional defect data is compared and verified with the inspection results in the previous steps to ensure that the results of each inspection are accurate. Through this multiple verification, the type, location and scale of the defects identified in each inspection can be confirmed, ensuring the high reliability and consistency of the inspection results.

[0179] In this embodiment, the method of acquiring and analyzing the three-dimensional data of the base plate by a three-dimensional laser scanner provides a comprehensive perspective and high-precision data support for inspection. The three-dimensional data analysis can not only intuitively display the spatial distribution and geometric characteristics of base plate defects, but also provide a scientific verification method for the results of different inspection stages.

[0180] In a preferred embodiment, a logic block diagram of an intelligent inspection method for a high arch dam stilling pool is provided, such as Figure 5 As shown:

[0181] S1: First census: The collection tool used in the first census is a multi-beam underwater three-dimensional sonar device, and the first census is completed by a multi-beam underwater three-dimensional sonar device;

[0182] S2: Second detailed survey: The collection tool used in the second detailed survey is an underwater unmanned submersible, and the second detailed survey is completed by the underwater unmanned submersible;

[0183] S3: The third detailed inspection: The acquisition tool used in the third detailed inspection is a dual-mode underwater inspection robot, and the third detailed inspection is completed by the dual-mode underwater inspection robot;

[0184] S3.1: Dredging and replacement: During the third detailed inspection, the dredging and replacement of the water body in the target area is completed by a dual-modal underwater inspection robot.

[0185] S4: Comparative Verification: Use a 3D laser scanner to conduct a comprehensive scan of the bottom plate of the energy dissipation pool after dredging to obtain high-precision 3D data, so as to compare and verify the inspection results of the first general survey of S1, the second detailed inspection of S2, and the third detailed inspection of S3.

[0186] An embodiment of the present application provides an intelligent inspection method for a high arch dam stilling pool, the method comprising: acquiring a tomographic image of a bottom plate of the stilling pool to be inspected by a first acquisition device; conducting a first census on the bottom plate of the stilling pool to be inspected based on the tomographic image of the bottom plate, and obtaining an inspection result of the first census; acquiring an apparent image of the bottom plate of the stilling pool to be inspected by a second acquisition device based on the inspection result of the first census; conducting a second detailed inspection on the bottom plate of the stilling pool to be inspected based on the apparent image, and obtaining an inspection result of the second detailed inspection; acquiring a fine image of the bottom plate of the stilling pool to be inspected by a third acquisition device based on the inspection result of the second detailed inspection; conducting a third fine inspection on the bottom plate of the stilling pool to be inspected based on the fine image, and obtaining an inspection result of the third fine inspection; determining defects of the bottom plate of the stilling pool to be inspected based on the inspection result of the first census, the inspection result of the second detailed inspection, and the inspection result of the third fine inspection. When inspecting the energy dissipation pool, this application combines the first general survey, the second detailed inspection, and the third meticulous inspection, thereby achieving efficient collection, identification and health diagnosis of defects in the bottom plate of the energy dissipation pool in a complex underwater environment.

[0187] Based on the same inventive concept, the second aspect of the embodiment of the present application provides an intelligent inspection device for a high arch dam stilling pool, such as Figure 6 As shown, the device comprises:

[0188] The first acquisition module 201 is used to acquire a tomographic image of the bottom plate of the energy dissipation pool to be inspected through a first acquisition device;

[0189] A first survey module 202 is used to conduct a first survey on the bottom plate of the energy stilling pool to be inspected according to the tomographic image of the bottom plate, and obtain the inspection result of the first survey;

[0190] The second acquisition module 203 is used to acquire the surface image of the bottom plate of the energy dissipation pool to be inspected through a second acquisition device according to the inspection result of the first census;

[0191] A second detailed inspection module 204 is used to perform a second detailed inspection on the bottom plate of the energy dissipation pool to be inspected according to the surface image, and obtain the inspection result of the second detailed inspection;

[0192] The third acquisition module 205 is used to acquire a detailed image of the bottom plate of the energy dissipation pool to be inspected through a third acquisition device according to the inspection result of the second detailed inspection;

[0193] A third fine inspection module 206 is used to perform a third fine inspection on the bottom plate of the energy dissipation pool to be inspected according to the fine image, and obtain an inspection result of the third fine inspection;

[0194] The determination module 207 is used to determine the defects of the bottom plate of the energy dissipation pool to be inspected according to the inspection results of the first general inspection, the inspection results of the second detailed inspection and the inspection results of the third detailed inspection.

[0195] Optionally, the defects of the bottom plate of the energy dissipation pool to be inspected are determined according to the inspection result of the first general survey, the inspection result of the second detailed inspection and the inspection result of the third fine inspection, and the determination module 207 includes:

[0196] A fusion submodule, used to fuse the inspection results of the first census, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection to obtain a fused inspection result of the energy dissipation pool to be inspected;

[0197] The first determination submodule is used to determine the defect position, defect type and defect scale of the bottom plate of the energy dissipation pool to be inspected according to the fused inspection result of the energy dissipation pool to be inspected.

[0198] Optionally, the first acquisition device is a multi-beam underwater three-dimensional sonar device; the tomographic image of the bottom plate of the energy dissipation pool to be inspected is acquired by the first acquisition device, and the first acquisition module includes:

[0199] A first acquisition submodule is used to collect multi-beam ultrasonic data of the bottom plate of the energy dissipation pool to be inspected through the multi-beam underwater three-dimensional sonar device;

[0200] The drawing submodule is used to draw the tomographic image of the bottom plate of the energy dissipation pool to be inspected according to the multi-beam ultrasonic data.

[0201] Optionally, the first census is conducted on the bottom plate of the energy dissipation pool to be inspected according to the tomographic image of the bottom plate to obtain the inspection result of the first census, and the first census module 202 includes:

[0202] The first acquisition submodule is used to acquire the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0203] A first feature analysis submodule, used for marking defect areas from the tomographic image and performing image feature analysis on the defect areas;

[0204] The second determination submodule is used to determine the defect type, defect location and defect scale of the first type of defect in the defect area according to the image feature analysis result of the defect area and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0205] The third determination submodule is used to use the defect type, defect location and defect scale of the first type of defects in the defect area as the inspection result of the first census.

[0206] Optionally, the second acquisition device is an underwater unmanned submersible; according to the inspection result of the first census, the surface image of the bottom plate of the energy dissipation pool to be inspected is collected by the second acquisition device, and the second acquisition module 203 includes:

[0207] A fourth determination submodule is used to determine the first survey line layout of the underwater unmanned submersible according to the inspection result of the first census;

[0208] A second acquisition submodule is used to acquire a two-dimensional sonar image of the bottom plate of the energy dissipation pool to be inspected by using the underwater unmanned submersible according to the first inspection path planned by the first survey line layout;

[0209] The fifth determination submodule is used to determine the defective area of ​​the bottom plate of the energy dissipation pool to be inspected according to the two-dimensional sonar image, and collect the surface image of the defective area through the underwater unmanned submersible.

[0210] Optionally, the bottom plate of the energy dissipation pool to be inspected is inspected for a second time according to the surface image to obtain an inspection result of the second detailed inspection, and the second detailed inspection module 204 includes:

[0211] The second acquisition submodule is used to acquire the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0212] A second feature analysis submodule is used to perform image feature analysis on the apparent image of the defect area to obtain an image feature analysis result of the apparent image;

[0213] Determine the defect type, defect location and defect scale of the second type of defect in the defect area according to the image feature analysis result of the surface image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0214] The sixth determination submodule is used to use the defect type, defect location and defect scale of the second type of defects in the defect area as the inspection result of the second detailed inspection.

[0215] Optionally, the third acquisition device is a dual-mode underwater inspection robot. According to the inspection result of the second detailed inspection, the third acquisition device is used to acquire a fine image of the bottom plate of the energy dissipation pool to be inspected. The third acquisition module 205 includes:

[0216] A seventh determination submodule is used to determine the second survey line arrangement of the dual-mode underwater inspection robot according to the inspection result of the second detailed inspection;

[0217] a processing submodule, configured to perform dredging-water replacement processing on a preset target area on the second inspection path according to the second inspection path arranged and planned by the second survey line by the dual-mode underwater inspection robot;

[0218] The third acquisition submodule is used to acquire a fine image of the preset target area after dredging and water replacement processing by using the dual-modal underwater detection robot.

[0219] Optionally, the third fine inspection is performed on the bottom plate of the energy dissipation pool to be inspected according to the fine image to obtain the inspection result of the third fine inspection, and the third fine inspection module 206 includes:

[0220] The third acquisition submodule is used to acquire the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected through a global positioning system;

[0221] A third feature analysis submodule is used to perform image feature analysis on the fine image to obtain an image feature analysis result of the fine image;

[0222] an eighth determination submodule, for determining the defect type, defect location and defect scale of the third type of defects in the fine image according to the image feature analysis result of the fine image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected;

[0223] The ninth determination submodule is used to use the defect type, defect location and defect scale of the third type of defects in the fine image as the inspection result of the third fine inspection.

[0224] Optionally, the device further comprises:

[0225] A scanning submodule is used to perform a full coverage scan of the bottom plate of the energy dissipation pool to be inspected by using a three-dimensional laser scanner to obtain three-dimensional data of the bottom plate of the energy dissipation pool to be inspected;

[0226] A data analysis submodule, used for performing data analysis on the three-dimensional data of the bottom plate of the energy dissipation pool to be inspected, and determining the three-dimensional data of defects of the bottom plate of the energy dissipation pool to be inspected;

[0227] The verification submodule is used to verify the inspection results of the first general inspection, the second detailed inspection and the third fine inspection according to the three-dimensional data of the defects of the bottom plate of the energy dissipation pool to be inspected.

[0228] Based on the same inventive concept, in a third aspect of the embodiment of the present application, there is provided a Figure 7 The device 100 shown in the figure for the intelligent inspection method of the stilling pool of a high arch dam comprises a memory 110, a processor 120 and a computer program stored in the memory 110. The processor 120 executes the computer program to implement the intelligent inspection method of the stilling pool of a high arch dam as described in the first aspect of the present application.

[0229] Based on the same inventive concept, the fourth aspect of the embodiment of the present application provides a computer-readable storage medium on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, an intelligent inspection method for a high arch dam stilling pool is implemented as described in the first aspect of the present application.

[0230] Each embodiment in the specification focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referenced to each other.

[0231] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0232] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0233] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0234] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0235] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0236] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0237] The above provides a detailed introduction to the intelligent inspection method, device, equipment and medium for the energy dissipation pool of a high arch dam. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An intelligent inspection method for a high arch dam stilling pool, characterized in that: The method comprises: Collecting a tomographic image of the bottom plate of the energy dissipation pool to be inspected by a first acquisition device; According to the tomographic image of the bottom plate, a first census is conducted on the bottom plate of the energy stilling pool to be inspected, and an inspection result of the first census is obtained; According to the inspection result of the first census, the surface image of the bottom plate of the energy dissipation pool to be inspected is collected by a second collection device; According to the surface image, a second detailed inspection is performed on the bottom plate of the energy dissipation pool to be inspected, and an inspection result of the second detailed inspection is obtained; According to the inspection result of the second detailed inspection, a detailed image of the bottom plate of the energy dissipation pool to be inspected is collected by a third collection device; The third acquisition device is a dual-mode underwater detection robot. According to the inspection result of the second detailed inspection, the third acquisition device is used to acquire a fine image of the bottom plate of the energy dissipation pool to be inspected, including: Determining a second survey line arrangement of the dual-mode underwater inspection robot according to the inspection result of the second detailed inspection; By using the dual-mode underwater inspection robot, according to the second inspection path arranged and planned by the second survey line, a preset target area on the second inspection path is desilted and water replaced; By means of the dual-mode underwater inspection robot, a detailed image of the preset target area after the dredging-water body replacement process is collected; According to the fine image, a third fine inspection is performed on the bottom plate of the energy dissipation pool to be inspected, and an inspection result of the third fine inspection is obtained; The method of performing a third fine inspection on the bottom plate of the energy dissipation pool to be inspected according to the fine image, and obtaining the inspection result of the third fine inspection, includes: Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system; Performing image feature analysis on the fine image to obtain an image feature analysis result of the fine image; Determine the defect type, defect location and defect scale of the third type of defects in the fine image according to the image feature analysis result of the fine image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected; taking the defect type, defect location and defect size of the third type of defects in the fine image as the inspection result of the third fine inspection; Defects of the bottom plate of the energy dissipation pool to be inspected are determined based on the inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third detailed inspection.

2. The intelligent inspection method for high arch dam stilling pool according to claim 1 is characterized in that: Determining the defects of the bottom plate of the energy dissipation pool to be inspected according to the inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third detailed inspection includes: The inspection results of the first general survey, the inspection results of the second detailed inspection, and the inspection results of the third fine inspection are integrated to obtain the integrated inspection results of the energy dissipation pool to be inspected; According to the fused inspection result of the energy dissipation pool to be inspected, the defect position, defect type and defect scale of the bottom plate of the energy dissipation pool to be inspected are determined.

3. The intelligent inspection method for high arch dam stilling pool according to claim 1 is characterized in that: The first acquisition device is a multi-beam underwater three-dimensional sonar device; The method of collecting the tomographic image of the bottom plate of the energy dissipation pool to be inspected by the first collecting device includes: Collecting multi-beam ultrasonic data of the bottom plate of the energy dissipation pool to be inspected by the multi-beam underwater three-dimensional sonar device; The tomographic image of the bottom plate of the energy dissipation pool to be inspected is drawn based on the multi-beam ultrasonic data.

4. The intelligent inspection method for high arch dam stilling pool according to claim 3 is characterized in that: The first census is conducted on the bottom plate of the energy dissipation pool to be inspected according to the tomographic image of the bottom plate, and the inspection result of the first census is obtained, including: Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system; Marking a defect area from the tomographic image, and performing image feature analysis on the defect area; Determine the defect type, defect location and defect scale of the first type of defect in the defect area according to the image feature analysis result of the defect area and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected; The defect type, defect location and defect scale of the first type of defects in the defect area are used as the inspection result of the first census.

5. The intelligent inspection method for high arch dam stilling pool according to claim 1 is characterized in that: The second acquisition device is an underwater unmanned submersible; the surface image of the bottom plate of the energy dissipation pool to be inspected is collected by the second acquisition device according to the inspection result of the first census, including: Determining the first survey line layout of the underwater unmanned submersible according to the inspection results of the first census; By means of the underwater unmanned submersible, a two-dimensional sonar image of the bottom plate of the energy dissipation pool to be inspected is collected according to the first inspection path planned by the first survey line layout; According to the two-dimensional sonar image, the defective area of ​​the bottom plate of the energy dissipation pool to be inspected is determined, and the surface image of the defective area is collected by the underwater unmanned submersible.

6. The intelligent inspection method for high arch dam stilling pool according to claim 5 is characterized in that: The second detailed inspection is performed on the bottom plate of the energy dissipation pool to be inspected according to the surface image, and the inspection result of the second detailed inspection is obtained, including: Obtaining coordinate data of all points on the bottom plate of the energy dissipation pool to be inspected through a global positioning system; Performing image feature analysis on the apparent image of the defect area to obtain an image feature analysis result of the apparent image; Determine the defect type, defect location and defect scale of the second type of defect in the defect area according to the image feature analysis result of the surface image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected; The defect type, defect location and defect scale of the second type of defects in the defect area are used as the inspection result of the second detailed inspection.

7. The intelligent inspection method for high arch dam stilling pool according to claim 1 is characterized in that: After the energy dissipation pool to be inspected is pumped out and dredged, the method further comprises: Performing a full coverage scan of the bottom plate of the energy dissipation pool to be inspected by a three-dimensional laser scanner to obtain three-dimensional data of the bottom plate of the energy dissipation pool to be inspected; Performing data analysis on the three-dimensional data of the bottom plate of the energy dissipation pool to be inspected, and determining the three-dimensional data of defects of the bottom plate of the energy dissipation pool to be inspected; According to the three-dimensional data of defects of the bottom plate of the energy dissipation pool to be inspected, the inspection results of the first general inspection, the inspection results of the second detailed inspection and the inspection results of the third fine inspection are verified respectively.

8. An intelligent inspection device for a high arch dam stilling pool, characterized in that: The device comprises: A first acquisition module is used to acquire a tomographic image of the bottom plate of the energy dissipation pool to be inspected through a first acquisition device; A first survey module is used to conduct a first survey on the bottom plate of the energy dissipation pool to be inspected according to the tomographic image of the bottom plate, and obtain the inspection result of the first survey; A second acquisition module is used to acquire the surface image of the bottom plate of the energy dissipation pool to be inspected through a second acquisition device according to the inspection result of the first census; A second detailed inspection module is used to perform a second detailed inspection on the bottom plate of the energy dissipation pool to be inspected according to the surface image, and obtain the inspection result of the second detailed inspection; A third acquisition module is used to acquire a detailed image of the bottom plate of the energy dissipation pool to be inspected through a third acquisition device according to the inspection result of the second detailed inspection; The third acquisition device is a dual-mode underwater detection robot. According to the inspection result of the second detailed inspection, the third acquisition device is used to collect a fine image of the bottom plate of the energy dissipation pool to be inspected. The third acquisition module includes: A seventh determination submodule is used to determine the second survey line arrangement of the dual-mode underwater inspection robot according to the inspection result of the second detailed inspection; a processing submodule, configured to perform dredging-water replacement processing on a preset target area on the second inspection path according to the second inspection path arranged and planned by the second survey line by the dual-mode underwater inspection robot; A third acquisition submodule is used to acquire a fine image of the preset target area after dredging and water replacement processing by the dual-modal underwater detection robot; A third fine inspection module is used to perform a third fine inspection on the bottom plate of the energy dissipation pool to be inspected according to the fine image, and obtain the inspection result of the third fine inspection; According to the fine image, a third fine inspection is performed on the bottom plate of the energy dissipation pool to be inspected to obtain the inspection result of the third fine inspection. The third fine inspection module includes: The third acquisition submodule is used to acquire the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected through a global positioning system; A third feature analysis submodule is used to perform image feature analysis on the fine image to obtain an image feature analysis result of the fine image; an eighth determination submodule, for determining the defect type, defect location and defect scale of the third type of defects in the fine image according to the image feature analysis result of the fine image and the coordinate data of all points of the bottom plate of the energy dissipation pool to be inspected; a ninth determination submodule, configured to use the defect type, defect location, and defect scale of the third type of defects in the fine image as the inspection result of the third fine inspection; The determination module is used to determine the defects of the bottom plate of the energy dissipation pool to be inspected according to the inspection results of the first general inspection, the inspection results of the second detailed inspection and the inspection results of the third detailed inspection.

9. A device for intelligent inspection of high arch dam stilling pool, comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement an intelligent inspection method for a high arch dam stilling pool according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, an intelligent inspection method for a high arch dam stilling pool is implemented as described in any one of claims 1 to 7.

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