A method and device for segmented detection and filling of cracks in underwater concrete panels in deep water areas

Abstract

The present invention discloses a method and device for segmented detection and filling of cracks in underwater concrete panels in deep water areas, including a robot main body, on which an image acquisition system, a propulsion system, and a detection operation system are provided, and the segmented detection operation system includes: an adsorption part; a segmented assembly cover, which is arranged on one side of the robot main body and connected to the robot main body through a telescopic device; an assembly part, the outer wall of which is provided with an observation system; and a filling part, which is arranged on the outer wall of the assembly part. The present invention uses the adsorption part in the segmented detection operation system to cooperate with the segmented assembly cover so that the robot main body is fixed on the concrete panel to segment the concrete panel, and finally realizes a comprehensive detection of cracks on the concrete panel in the segmented area through a driving mechanism, an assembly part and a observation system. This method has the advantages of higher detection accuracy, high detection efficiency, high reliability of detection results, and low labor intensity.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete panel detection, and in particular to a method and a device for segmented detection and filling of cracks in underwater concrete panels in deep water areas. Background Art

[0002] In the construction of water conservancy projects, concrete face rockfill dams are widely used as an important structural form. However, with the continuous development of engineering technology and the complexity of the application environment, concrete panels are facing more severe challenges, especially in water conservancy projects in deep water areas. Underwater concrete panels in deep water areas are prone to damage such as cracks due to long-term underwater environment, affected by multiple factors such as water pressure, water flow scouring, temperature changes and foundation settlement. These cracks will not only affect the overall stability and safety of the dam body, but may also cause problems such as water seepage.

[0003] Traditionally, crack detection of underwater concrete panels in deep water areas is mainly carried out by divers carrying detection equipment. However, since the concrete panels are in deep water areas, this method not only has low detection efficiency, but also divers are limited by their own conditions (such as vision, physical strength, etc.) and environmental factors (such as water flow, visibility, etc.) when working underwater. They may not be able to accurately and comprehensively detect cracks on the concrete panels, and the detection accuracy is limited. Furthermore, after detecting cracks in the concrete panels, divers usually only mark the crack areas through marking equipment, and cannot process the crack areas in time. Subsequent divers are required to continue to enter the water to fill and repair the crack areas, which is more troublesome. To this end, we propose a segmented detection and filling method and device for underwater concrete panels in deep water areas. Summary of the invention

[0004] The purpose of the present invention is to provide a method and device for segmented detection and filling of cracks in underwater concrete panels in deep water areas, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A device for detecting and filling cracks in underwater concrete panels in deep water areas comprises a robot body, the robot body is provided with an image acquisition system, a propulsion system for realizing the underwater movement of the robot body, and a detection operation system for detecting and filling cracks in concrete panels in sections, the image acquisition system, the propulsion system and the detection operation system are all electrically connected to a control system on the robot body, and the section detection operation system comprises:

[0007] The adsorption part is used to be adsorbed on the concrete panel and drive the robot body to move along the surface of the concrete panel;

[0008] A segmented assembly cover is provided at one side of the robot body and connected to the robot body through a telescopic device 1, and is driven by the telescopic device 1 to move relative to the concrete panel, and is used to separate a part of the outer wall of the concrete panel from other areas of the outer wall of the concrete panel;

[0009] An assembly part is arranged in the segmented assembly cover through a driving mechanism, and is driven by the driving mechanism to move in the segmented assembly cover along the length direction of the segmented assembly cover. The outer wall of the assembly part is provided with an observation system for detecting cracks in the concrete panel. The observation system is electrically connected to the control system; and,

[0010] The filling part is arranged on the outer wall of the assembling part and is used for filling the cracks of the concrete panel.

[0011] A further improvement is that the adsorption portion comprises:

[0012] The linear guide rail modules are provided with two groups, which are symmetrically arranged on both sides of the robot body, and the sliders in the linear guide rail modules are connected to the robot body; and,

[0013] The suction cup mechanism is arranged at two ends of the bottom of the linear guide module and is electrically connected to the control system.

[0014] A further improvement is that the assembly portion comprises:

[0015] A threaded assembly block, both ends of the outer wall of the threaded assembly block are rotatably sleeved with assembly cylinders, an annular transparent part is provided between two groups of the assembly cylinders, an annular cavity is formed between the outer walls of the two groups of assembly cylinders on opposite sides and the inner wall of the annular transparent part, a rotating device 1 is provided on the outer wall of the threaded assembly block, and the output end of the rotating device 1 is connected to the outer wall of the assembly cylinder through a gear and a gear ring transmission;

[0016] The driving mechanism comprises:

[0017] A reciprocating stud is rotatably disposed in the segmented assembly cover, one end of which is connected to the second output end of the rotating device, and the thread of the reciprocating stud passes through the threaded assembly block; and,

[0018] The guide rod is arranged in the segmented assembly cover and is parallel to one side of the reciprocating stud, and the guide rod movably penetrates the threaded assembly block.

[0019] A further improvement is that the viewing system comprises:

[0020] A detection camera is arranged on the outer wall of the threaded assembly block and faces the side where the segmented assembly cover contacts the concrete panel, and the detection camera is also located in the annular cavity; and,

[0021] One end of the crack detector is connected to the outer wall of the assembly tube through the telescopic device 2. When the assembly tube rotates to a preset angle, the crack detector is driven by the telescopic device 2 to move to a preset position to detect cracks on the concrete panel.

[0022] A further improvement is that the filling portion comprises:

[0023] The mechanical arms are provided with two groups, which are symmetrically arranged on the outer walls of the two assembly cylinders and staggered with the crack detectors, and the mechanical arms are electrically connected to the control system;

[0024] A slotting member is provided at a working end of a mechanical arm, wherein the slotting member includes a slotting rotary device and a cutting disc provided at an output end of the slotting rotary device, and is used to open a filling slot in a crack area; and

[0025] The injection pipe is arranged at the working end of another robot arm. The feeding end of the injection pipe is connected to the output end of the feeding pump on the robot body through a hose, and the input end of the feeding pump is connected to the output end of the feeding mechanism arranged on the robot body through a pipeline.

[0026] A further improvement is that it also includes an adsorption cleaning unit, and the adsorption cleaning unit includes:

[0027] The outer shell is connected to the outer wall of the assembly tube through the telescopic device 3 and is staggered with the filling part and the crack detector. A plurality of groups of elastic telescopic parts are inserted on the side of the outer shell away from the assembly tube. The bottom of the elastic telescopic parts is provided with a friction brush for contacting with the concrete panel.

[0028] A driving device, arranged in the housing, for driving a plurality of groups of elastic telescopic members to rotate synchronously;

[0029] A cavity is provided in the wall thickness of the threaded assembly block, wherein the cavity is connected to an input end of a negative pressure device provided on the robot body through a connecting pipe; and

[0030] The adsorption head has an input end connected with the cavity and is located outside the assembly cylinder, and the adsorption end of the adsorption head faces the side where the segmented assembly cover contacts the concrete panel.

[0031] A further improvement is that a crushing blade is provided at the adsorption end of the adsorption head, the shaft of the crushing blade is on the same axis as the adsorption head, and the shaft is connected to a transmission shaft, the transmission shaft movably passes through the adsorption head and is connected to a follower gear, and an inner wall on one side of the segmented assembly cover is provided with a rack extending along its length and meshing with the follower gear, which is used to drive the follower gear to rotate when the threaded assembly block moves back and forth.

[0032] A further improvement is that a heating element is provided on the outer wall of the assembly cylinder at a position offset from the filling portion, the crack detector and the friction brush through a second telescopic device.

[0033] A further improvement is that an arc-shaped brush member is attached to one side of the outer wall of the annular transparent member, and the brush member is connected to one end of the outer wall of the threaded assembly block through a bracket.

[0034] A method for segmented detection and filling of cracks in underwater concrete panels in deep water areas, using the above-mentioned segmented detection and filling device, is characterized in that it includes the following steps:

[0035] S1: The robot body is released, and the robot body enters the concrete panel in the deep water area through the propulsion system. The robot body is adsorbed on the concrete panel through the adsorption part and is driven by the adsorption part to move to one end of the concrete panel;

[0036] S2: Control the shrinking device to drive the segmented assembly cover downward to contact the concrete panel, separate a part of the outer wall of the concrete panel from other areas of the outer wall of the concrete panel, and then drive the assembly part to move in the segmented assembly cover through the driving mechanism;

[0037] S3: During the movement of the assembly part, the observation system detects the cracks of the concrete panel and transmits them to the control system for processing and identification. Subsequently, the cracks of the concrete panel are filled by the filling part. After processing, the segmented assembly cover is controlled by the adsorption part to move to separate other areas of the outer wall of the concrete panel. After separation, the detection and filling work is carried out again.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The robot body of the present invention can replace divers to enter the concrete panels in deep water areas for inspection operations. The propulsion system, image acquisition system and control system are used to coordinately move the robot body to the concrete panel. Then, the adsorption part in the segmented inspection operation system cooperates with the segmented assembly cover to fix the robot body on the concrete panel to segment the concrete panel. Finally, the driving mechanism, assembly part and observation system are used to realize comprehensive inspection of cracks on the concrete panels in the segmented areas. This method has the advantages of higher inspection accuracy, high inspection efficiency, high reliability of inspection results and low labor intensity.

[0040] The present invention first opens a filling groove in the crack area of ​​the concrete panel through a grooving piece, and then fills and repairs the filling groove through an injection pipe, a feeding pump and a feeding mechanism to achieve crack repair. No subsequent underwater construction by divers is required, and the risk of generating safety hazards is reduced. The adsorption cleaning part is provided, which can not only clean the attachments on the surface of the area separated by the segmented assembly cover, but also can extract the attachments, debris generated by the grooving of the grooving piece and the liquid in the segmented assembly cover to the outside of the segmented assembly cover, so that the area separated by the concrete panel is exposed, which not only provides conditions for crack detection, but also facilitates subsequent filling and repairing, and improves the detection and filling quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of the segmented detection filling device of the present invention;

[0042] Figure 2 It is a cross-sectional view of the segmented assembly cover structure of the present invention;

[0043] Figure 3 For the present invention Figure 2 A magnified view of the structure A;

[0044] Figure 4 It is a side view of the assembly tube structure of the present invention;

[0045] Figure 5 It is a cross-sectional view of the adsorption head structure of the present invention.

[0046] In the figure: 1. Robot body; 2. Propulsion system; 3. Control system; 4. Segmented assembly cover; 5. Telescopic device 1; 6. Linear guide module; 7. Suction cup mechanism; 8. Reciprocating stud; 9. Guide rod; 10. Threaded assembly block; 11. Assembly cylinder; 12. Annular transparent part; 13. Observation system; 14. Telescopic device 2; 15. Crack detector; 16. Rotating device 1; 17. Rotating device 2; 18. Telescopic device 3; 19. Elastic telescopic part; 20. Friction brush; 21. Driving device; 22. Robotic arm; 23. Grooving part; 24. Injection pipe; 25. Feeding pump; 26. Feeding mechanism; 27. Heating part; 28. Adsorption head; 29. ​​Cavity; 30. Connecting pipe; 31. Negative pressure device; 32. Crushing blade; 33. Transmission shaft; 34. Brush part. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] See also Figure 1-Figure 2

[0049] A device for detecting and filling cracks in underwater concrete panels in deep water areas, comprising a robot body 1, on which an image acquisition system, a propulsion system 2 for realizing the underwater movement of the robot body 1 in all directions, and a detection operation system for detecting and filling cracks in concrete panels in sections are arranged. The image acquisition system, the propulsion system 2 and the detection operation system are all electrically connected to a control system 3 on the robot body 1. The propulsion system 2 includes, for example, a horizontal thruster and a vertical thruster. The image acquisition system is, for example, a bow camera, etc., for acquiring images in deep water areas. The control system 3 includes, for example, a main control computer, on which a tracking and positioning system, a thrust distribution algorithm, a display system, a communication system and an image recognition system are integrated. The tracking and positioning system, the thrust distribution algorithm and the image recognition system all use existing technologies to realize their functions, so this application does not introduce their specific contents in detail. The communication system includes, for example, a communication interface and an optoelectronic composite cable connected to the communication interface. The optoelectronic composite cable provides continuous power and control signals to the electrical components in the robot body 1, so that the detection and filling operations are stable and reliable. The communication system is connected to the electrical components in the robot body 1 and external devices as the communication port of the main control computer;

[0050] The segmented detection system includes:

[0051] The adsorption part is used to be adsorbed on the concrete panel and drive the robot body 1 to move along the surface of the concrete panel;

[0052] The segmented assembly cover 4 is arranged on one side of the robot body 1 and connected to the robot body 1 through a telescopic device 5. The segmented assembly cover 4 is driven by the telescopic device 5 to move relative to the concrete panel to separate a part of the outer wall of the concrete panel from other areas of the outer wall of the concrete panel. Figure 1 As shown, the width of the segmented assembly cover 4 is smaller than the length of the concrete panel, so that the concrete panel can be inspected and filled in segments, and a sealing strip can be provided at the bottom of the segmented assembly cover 4 to ensure the sealing of the contact between the segmented assembly cover 4 and the surface of the concrete panel;

[0053] The assembly part is arranged in the segmented assembly cover 4 through a driving mechanism, and is driven by the driving mechanism to move in the segmented assembly cover 4 along the length direction of the segmented assembly cover 4, so as to process the concrete panel area separated by the segmented assembly cover 4. The outer wall of the assembly part is provided with an observation system 13 for detecting cracks in the concrete panel. The observation system 13 is electrically connected to the control system 3; and,

[0054] The filling part is arranged on the outer wall of the assembling part and is used for filling the cracks of the concrete panel.

[0055] Preferably, the adsorption part of this embodiment includes:

[0056] The linear guide module 6 is provided with two groups, which are symmetrically arranged on both sides of the robot body 1. The sliders in the linear guide module 6 are connected to the robot body 1. The linear guide module 6 is, for example, a waterproof electric guide. When in use, the linear guide module 6 can make the slider drive the robot body 1 to move, thereby adjusting the position of the segmented assembly cover 4, so as to perform segmented detection and filling of the concrete panel; and

[0057] The suction cup mechanism 7 is arranged at both ends of the bottom of the linear guide module 6 and is electrically connected to the control system 3 (that is, connected to the main control computer). After the robot body 1 moves to the specified position on the concrete panel, the suction cup mechanism 7 can be controlled by the control system 3 to make the robot body 1 adsorbed on the concrete panel.

[0058] See also Figure 3-Figure 5

[0059] Preferably, the assembly part of this embodiment includes:

[0060] The threaded assembly block 10 is cylindrical, and both ends of the outer wall of the threaded assembly block 10 are provided with assembly cylinders 11 through bearing rotation sleeves, and an annular transparent member 12 is provided between the two groups of assembly cylinders 11. The annular transparent member 12 is made of glass material, for example. An annular cavity is formed between the outer walls of the two groups of assembly cylinders 11 on the opposite side and the inner wall of the annular transparent member 12. The outer wall of the threaded assembly block 10 is provided with a rotating device 16 electrically connected to the control system 3. The rotating device 16 is, for example, a micro servo motor. The output end of the rotating device 16 is connected to the outer wall of the assembly cylinder 11 through a gear and a gear ring. The gear is driven by the rotating device 16, and then the gear and the gear ring cooperate to make the assembly cylinder 11 rotate;

[0061] The driving mechanism includes:

[0062] A reciprocating stud 8 is rotatably disposed in the segmented assembly cover 4, one end of which is connected to the output end of the second rotating device 17, and the other end is rotatably connected to the inner wall of the segmented assembly cover 4 through a bearing. The second rotating device 17 includes, for example, a motor and a reducer. The second rotating device 17 is electrically connected to the control system 3. The reciprocating stud 8 is threaded through the threaded assembly block 10. The reciprocating stud 8 can be driven to rotate by the second rotating device 17, and then the reciprocating stud 8 drives the threaded assembly block 10 to reciprocate along the length direction of the segmented assembly cover 4, so as to process the concrete panel area separated by the segmented assembly cover 4; and,

[0063] The guide rod 9 is arranged in the segmented assembly cover 4 and is located parallel to one side of the reciprocating stud 8, and the guide rod 9 movably passes through the threaded assembly block 10, so that the threaded assembly block 10 can be moved while not rotating with the reciprocating stud 8 through the guide rod 9.

[0064] Preferably, the observation system 13 of this embodiment includes:

[0065] A detection camera is arranged on the outer wall of the threaded assembly block 10 and faces the side where the segmented assembly cover 4 contacts the concrete panel. The detection camera is also located in the annular cavity. The detection camera obtains the image of the concrete panel area separated by the segmented assembly cover 4 in real time and transmits it to the control system 3 (that is, connected to the main control computer). The image recognition system determines whether there are cracks in the concrete panel area; and,

[0066] The crack detector 15 has one end connected to the outer wall of the assembly tube 11 through the telescopic device 2 14. When the assembly tube 11 is rotated to a preset angle, the crack detector 15 is driven by the telescopic device 2 14 to move to a preset position to detect cracks on the concrete panel. The crack detector 15 belongs to a conventional structure in the field and is electrically connected to the control system 3, which is not described in detail here. The assembly tube 11 is rotated by the rotating device 16, so that the crack detector 15 is aligned with the concrete panel. Then, the control system 3 controls the telescopic device 2 14 to make the crack detector 15 contact the concrete panel. The concrete panel is detected by the crack detector 15 to obtain crack data on the concrete panel, including crack width and depth.

[0067] Preferably, the filling part of this embodiment includes:

[0068] The mechanical arm 22 is provided with two groups, which are symmetrically arranged on the outer walls of the two assembly cylinders 11 and staggered with the crack detector 15. The mechanical arm 22 is electrically connected to the control system 3. The mechanical arm 22 is, for example, a 6-axis manipulator, which can flexibly change the position and angle so as to process the crack position on the concrete panel;

[0069] The slotting member 23 is provided at the working end of a mechanical arm 22. The slotting member 23 includes a slotting rotary device and a cutting disc provided at the output end of the slotting rotary device, and is used to open a filling slot in the crack area. The slotting rotary device is electrically connected to the control system 3. The slotting member 23 is placed at the crack position through the mechanical arm 22, and the slotting rotary device in the slotting member 23 drives the cutting disc to rotate to slot the crack position. In this embodiment, the filling slot can be V-shaped; and,

[0070] The injection pipe 24 is arranged at the working end of the other robotic arm 22. The feeding end of the injection pipe 24 is connected to the output end of the feeding pump 25 on the robot body 1 through a hose. The input end of the feeding pump 25 is connected to the output end of the feeding mechanism 26 arranged on the robot body 1 through a pipeline. The feeding mechanism 26, for example, includes a storage bin for storing slurry. After the filling tank is opened, the injection pipe 24 is driven to align with the filling tank through the other robotic arm 22, and then the slurry in the storage bin is added to the filling tank through the feeding pump 25 to repair the crack. The above-mentioned feeding pump 25 is electrically connected to the control system 3.

[0071] Preferably, the present embodiment further includes an adsorption cleaning unit, which includes:

[0072] The shell is connected to the outer wall of the assembly tube 11 through the telescopic device 3 18 and is staggered with the filling part and the crack detector 15. The telescopic device 3 18 is electrically connected to the control system 3. A plurality of groups of elastic telescopic parts 19 are inserted on the side of the shell away from the assembly tube 11. The elastic telescopic parts 19 are elastic telescopic rods, which belong to the prior art and are not described in detail here. A bearing is provided at the connection between the elastic telescopic parts 19 and the shell. A friction brush 20 for contacting the concrete panel is provided at the bottom of the elastic telescopic parts 19. When the inspection is performed through the observation system 13, the assembly tube 11 is rotated by the rotating device 16 until the friction brush 20 corresponds to the concrete panel, and then the telescopic device 3 18 drives the friction brush 20 to contact the concrete panel;

[0073] A driving device 21, disposed in the housing, is used to drive the plurality of groups of elastic telescopic members 19 to rotate synchronously. The driving device 21, for example, includes a motor electrically connected to the control system 3, and a sprocket transmission group (sprocket and chain) for transmission connecting the motor and the plurality of groups of elastic telescopic members 19;

[0074] The cavity 29 is provided in the wall thickness of the threaded assembly block 10. The cavity 29 is connected to the input end of the negative pressure device 31 provided on the robot body 1 through the connecting pipe 30. The negative pressure device 31 is a conventional device in the art and is electrically connected to the control system 3, which will not be described in detail herein; and

[0075] The adsorption head 28, whose input end is connected to the cavity 29, is located outside the assembly cylinder 11, and the adsorption end of the adsorption head 28 faces the side of the segmented assembly cover 4 that contacts the concrete panel;

[0076] Since the adsorption head 28 is connected to the threaded assembly block 10, the adsorption head 28 will not be affected by the rotation of the assembly tube 11, and the adsorption head 28 is always facing the concrete panel. When the friction brush 20 moves with the threaded assembly block 10, it is driven by the driving device 21 and the elastic telescopic member 19 to rotate to clean the surface of the concrete panel. The cleaned attachments and the liquid in the segmented assembly cover 4 can be extracted to the outside of the segmented assembly cover 4. In the process of grooving by the grooving member 23, debris can be extracted, thereby improving the quality of crack detection and filling.

[0077] Preferably, the adsorption end of the adsorption head 28 of the present embodiment is provided with a crushing blade 32, the shaft of the crushing blade 32 is on the same axis as the adsorption head 28, and the shaft is transmission-connected with a transmission shaft 33, the shaft of the crushing blade 32 and the transmission shaft 33 are perpendicular to each other, the crushing blade 32 and the transmission shaft 33 can be transmission-connected by a bevel gear set (two sets of meshing bevel gears), the transmission shaft 33 movably passes through the adsorption head 28 and is connected to a follower gear, and an inner wall on one side of the segmented assembly cover 4 is provided with a rack (not shown in the figure) extending along its length and meshing with the follower gear, which is used to drive the follower gear to rotate when the threaded assembly block 10 reciprocates, thereby causing the crushing blade 32 to rotate, and then entering the attachments etc. of the adsorption head 28 to crush them to prevent the attachments etc. from clogging the pipeline.

[0078] Preferably, a heating element 27 is provided on the outer wall of the assembly cylinder 11 of the present embodiment and at a position staggered from the filling part, the crack detector 15 and the friction brush 20 through the telescopic device 14. The telescopic device 14 and the heating element 27 are both electrically connected to the control system 3. The heating element 27 is, for example, an underwater heater. After the slurry is injected into the filling tank, the assembly cylinder 11 is rotated through the rotating device 16, so that the heating element 27 corresponds to the filling tank area. The heating element 27 is controlled to work through the control system 3 so that the slurry can be solidified, thereby improving the overall work efficiency.

[0079] Preferably, an arc-shaped brush member 34 is attached to one side of the outer wall of the annular transparent member 12 of the present embodiment, and the brush member 34 is connected to one end of the outer wall of the threaded assembly block 10 through a bracket. The annular transparent member 12 rotates with the assembly tube 11. When it rotates, the annular transparent member 12 rubs against the brush member 34 to clean the annular transparent member 12 and ensure the image quality captured by the detection camera.

[0080] A method for segmented detection and filling of cracks in underwater concrete panels in deep water areas, using the above-mentioned segmented detection and filling device, comprises the following steps:

[0081] S1: The robot body 1 is released, and the robot body 1 enters the concrete panel in the deep water area through the propulsion system 2. The robot body 1 is adsorbed on the concrete panel through the adsorption part and is driven by the adsorption part to move to one end of the concrete panel;

[0082] S2: Control the shrinking device 1 to drive the segmented assembly cover 4 downward to contact the concrete panel, separate a part of the outer wall of the concrete panel from other areas of the outer wall of the concrete panel, and then drive the assembly part to move in the segmented assembly cover 4 through the driving mechanism;

[0083] S3: During the movement of the assembly part, the observation system 13 detects the cracks of the concrete panel and transmits them to the control system 3 for processing and identification. Subsequently, the cracks of the concrete panel are filled by the filling part. After processing, the segmented assembly cover 4 is controlled to move through the adsorption part to separate other areas of the outer wall of the concrete panel again. After separation, the detection and filling work is performed again.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for detecting and filling cracks in underwater concrete panels in deep water areas, comprising a robot body (1), the robot body (1) being provided with an image acquisition system, a propulsion system (2) for realizing the underwater movement of the robot body (1), and a detection operation system for detecting and filling cracks in concrete panels in sections, the image acquisition system, the propulsion system (2) and the detection operation system being electrically connected to a control system (3) on the robot body (1), characterized in that: The segmented detection operation system comprises: An adsorption part, used for adsorbing on the concrete panel and driving the robot body (1) to move along the surface of the concrete panel; A segmented assembly cover (4) is arranged on one side of the robot body (1) and connected to the robot body (1) via a telescopic device (5), and is driven by the telescopic device (5) to move relative to the concrete panel to separate a part of the outer wall of the concrete panel from other areas of the outer wall of the concrete panel; An assembly part is arranged in the segmented assembly cover (4) through a driving mechanism, and is driven by the driving mechanism to move in the segmented assembly cover (4) along the length direction of the segmented assembly cover (4), and an observation system (13) is arranged on the outer wall of the assembly part for detecting cracks in the concrete panel, and the observation system (13) is electrically connected to the control system (3); and A filling part, arranged on the outer wall of the assembly part, for filling cracks in the concrete panel; The assembly part comprises: A threaded assembly block (10) has assembly cylinders (11) rotatably sleeved on both ends of its outer wall, an annular transparent member (12) is provided between the two groups of assembly cylinders (11), an annular cavity is formed between the outer walls of the two groups of assembly cylinders (11) on the opposite side and the inner wall of the annular transparent member (12), a rotating device (16) is provided on the outer wall of the threaded assembly block (10), and the output end of the rotating device (16) is connected to a gear ring on the outer wall of the assembly cylinder (11) through a gear; The driving mechanism comprises: A reciprocating stud (8) is rotatably disposed in the segmented assembly cover (4), one end of which is connected to the output end of the second rotating device (17), and the thread of the reciprocating stud (8) passes through the threaded assembly block (10); and, The guide rod (9) is arranged in the segmented assembly cover (4) and is located parallel to one side of the reciprocating stud (8), and the guide rod (9) movably penetrates the threaded assembly block (10).

2. The segmented detection and filling device according to claim 1 is characterized in that: The adsorption part comprises: The linear guide rail modules (6) are provided with two groups, which are symmetrically arranged on both sides of the robot body (1), and the sliders in the linear guide rail modules (6) are connected to the robot body (1); and The suction cup mechanism (7) is arranged at both ends of the bottom of the linear guide module (6) and is electrically connected to the control system (3).

3. The segmented detection and filling device according to claim 1 is characterized in that: The observation system (13) comprises: a detection camera, which is arranged on the outer wall of the threaded assembly block (10) and faces the side where the segmented assembly cover (4) contacts the concrete panel, and the detection camera is also located in the annular cavity; and A crack detector (15) has one end connected to the outer wall of the assembly tube (11) through the second telescopic device (14). When the assembly tube (11) rotates to a preset angle, the crack detector (15) is driven by the second telescopic device (14) to move to a preset position to detect cracks on the concrete panel.

4. The segmented detection and filling device according to claim 3 is characterized in that: The filling portion comprises: The mechanical arms (22) are provided in two groups, which are symmetrically arranged on the outer walls of the two assembly cylinders (11) and staggered from the crack detector (15), and the mechanical arms (22) are electrically connected to the control system (3); A slotting member (23) is arranged at a working end of a mechanical arm (22), wherein the slotting member (23) comprises a slotting rotary device and a cutting disc arranged at an output end of the slotting rotary device, and is used to open a filling slot in a crack area; and The injection pipe (24) is arranged at the working end of the other robot arm (22), the feeding end of the injection pipe (24) is connected to the output end of the feeding pump (25) on the robot body (1) through a hose, and the input end of the feeding pump (25) is connected to the output end of the feeding mechanism (26) arranged on the robot body (1) through a pipeline.

5. The segmented detection and filling device according to claim 4 is characterized in that: It also includes an adsorption cleaning unit, the adsorption cleaning unit including: The outer shell is connected to the outer wall of the assembly tube (11) through a telescopic device (18) and is staggered with the filling part and the crack detector (15); a plurality of groups of elastic telescopic parts (19) are inserted on the side of the outer shell away from the assembly tube (11); and a friction brush (20) for contacting the concrete panel is provided at the bottom of the elastic telescopic parts (19); A driving device (21) is disposed in the housing and is used to drive a plurality of groups of elastic telescopic members (19) to rotate synchronously; A cavity (29) is provided in the wall thickness of the threaded assembly block (10), wherein the cavity (29) is connected to an input end of a negative pressure device (31) provided on the robot body (1) through a connecting pipe (30); and The adsorption head (28) has an input end connected to the cavity (29) and is located outside the assembly cylinder (11). The adsorption end of the adsorption head (28) faces the side of the segmented assembly cover (4) that contacts the concrete panel.

6. The segmented detection and filling device according to claim 5, characterized in that: The adsorption end of the adsorption head (28) is provided with a crushing blade (32), the shaft of the crushing blade (32) is coaxial with the adsorption head (28), and the shaft is connected to a transmission shaft (33), the transmission shaft (33) movably passes through the adsorption head (28) and is connected to a follower gear, and a rack extending along its length and meshing with the follower gear is provided on an inner wall of one side of the segmented assembly cover (4), which is used to drive the follower gear to rotate when the threaded assembly block (10) reciprocates.

7. The segmented detection and filling device according to claim 6, characterized in that: The outer wall of the assembly tube (11) and a position offset from the filling portion, the crack detector (15) and the friction brush (20) are provided with a heating element (27) via a second telescopic device (14).

8. The segmented detection and filling device according to claim 1, characterized in that: An arc-shaped brush member (34) is attached to one side of the outer wall of the annular transparent member (12), and the brush member (34) is connected to one end of the outer wall of the threaded assembly block (10) through a bracket.

9. A method for segmented detection and filling of cracks in underwater concrete panels in deep water areas, using the segmented detection and filling device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: releasing the robot body (1), the robot body (1) enters the concrete panel in the deep water area through the propulsion system (2), the robot body (1) is adsorbed on the concrete panel through the adsorption part and is driven by the adsorption part to move to one end of the concrete panel; S2: Control the shrinking device to drive the segmented assembly cover (4) downward to contact the concrete panel, separate a part of the outer wall of the concrete panel from other areas of the outer wall of the concrete panel, and then drive the assembly part to move in the segmented assembly cover (4) through the driving mechanism; S3: During the movement of the assembly part, the observation system (13) detects the cracks of the concrete panel and transmits them to the control system (3) for processing and identification. Subsequently, the cracks of the concrete panel are filled by the filling part. After processing, the segmented assembly cover (4) is controlled by the adsorption part to move to separate other areas of the outer wall of the concrete panel. After separation, the detection and filling work is performed again.

Images