Underwater robot and crack detection and repair system

Abstract

The invention discloses an underwater robot and a crack detection and repair system, and the underwater robot comprises a bearing plate, and a power assembly, a camera assembly, a detection assembly, a crack repair assembly and a control circuit which are arranged in corresponding areas of the bearing plate; the detection assembly comprises a desilting head and an ink jet head which are arranged at the corresponding lowering positions of the bearing plate, and the ink jet head is connected with a corresponding ink storage box; the crack sealing unit comprises a roller structure arranged at the corresponding position below the bearing plate, a sealing adhesive tape is arranged on the surface of the roller structure, and the roller structure attaches the sealing adhesive tape to the surface of the crack in a rotating state; the crack grouting repair unit comprises a high polymer spray head arranged in a corresponding area below the bearing plate and a micro grouting machine arranged in a corresponding position above the bearing plate, and the high polymer spray head is communicated with the micro grouting machine. The invention aims to improve the treatment efficiency of underwater concrete crack detection and repair.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete structure repair, and in particular to an underwater robot and a crack detection and repair system. Background Art

[0002] At present, with the long-term operation of domestic water conservancy and hydropower facilities, underwater concrete structures are affected by water flow pressure for a long time, and concrete structures often have multiple cracks and serious leakage problems, which seriously affect the service life of the structure. The existing repair measures mainly use divers for underwater repair, which has great safety hazards, and some dangerous and complex underwater areas are not suitable for divers to carry out underwater repair.

[0003] And the invention patent with patent publication number CN118032795A discloses a pumped storage power station reservoir basin concrete crack detection system, the system includes a mounting bracket, an image collector and a vehicle body, the top of the mounting bracket is clamped with an injector, one side of the injector is installed with a spraying cylinder, the other end of the injector is installed with a connecting shaft, the end of the connecting shaft is connected to a nozzle, the top of the nozzle is installed with a nozzle, and the image collector is installed in the vehicle body. Although the system realizes crack identification through automation and remote control technology, which can reduce the risk and complexity of manual diving operations, it only solves the problem of crack identification. Further processing of cracks needs to be combined with other equipment, and the efficiency of concrete crack processing is low. Summary of the invention

[0004] The main purpose of the present invention is to provide an underwater robot and a crack detection and repair system, aiming to solve the technical problem of low efficiency of crack detection and repair of existing underwater robots.

[0005] To achieve the above-mentioned object, the present invention provides an underwater robot, the underwater robot comprising a bearing plate, and a power assembly, a camera assembly, a detection assembly, a crack repair assembly and a control circuit arranged in a corresponding area of ​​the bearing plate;

[0006] The control circuit is used to be connected to the visual operating system external to the underwater robot by electrical signals, and the power component, camera component, detection component, and crack repair component are also connected to the control circuit by electrical signals respectively;

[0007] The camera assembly is used to obtain image data obtained by the underwater robot under the drive of the power assembly and transmit it to the visual operating system through the control circuit, so that the visual operating system controls the underwater robot to execute corresponding instructions after analyzing the received image data;

[0008] The detection component is used to determine the crack position according to the area corresponding to the image data obtained by the camera component under the instruction of the visual operating system, so that the visual operating system controls the crack repair component to perform the repair operation;

[0009] The detection assembly includes a dredging head and an inkjet head arranged at corresponding positions under the carrier plate, the inkjet head is used to perform inkjet processing on the suspected crack area, so that the visual operating system can determine the crack position according to the image data after inkjet, the inkjet head is connected to the corresponding ink storage box, and the dredging head is used to perform dredging operation on the area after inkjet;

[0010] The crack repair assembly includes a crack sealing unit and a crack grouting repair unit. The crack sealing unit includes a roller structure arranged at a corresponding position below the bearing plate. A sealing tape is arranged on the surface of the roller structure. The roller structure adheres the sealing tape to the crack surface in a rotating state.

[0011] The crack grouting repair unit includes a polymer nozzle arranged in a corresponding area below the supporting plate and a micro grouting machine at a corresponding position above the supporting plate. The polymer nozzle is connected to the micro grouting machine and is used to inject polymer slurry into the sealing tape attachment area to achieve crack repair.

[0012] Optionally, the sealing tape is further provided with dividing lines which are perpendicular to the length direction of the sealing tape and are equally spaced, and the dividing lines are used to divide the sealing tape into small-sized tapes of preset lengths.

[0013] Optionally, grouting holes for grouting with a polymer nozzle are also provided in the small-sized tape between adjacent dividing lines.

[0014] Optionally, the power assembly includes a plurality of wheels arranged under the supporting plate and a plurality of propellers on the side of the supporting plate. The plurality of wheels are respectively arranged under the supporting plate and controlled by corresponding motors. The plurality of wheels are used to control the movement of the underwater robot on the plane, and the plurality of propellers are used to control the lifting and movement of the underwater robot underwater. The plurality of wheels cooperate with the plurality of propellers to control the underwater robot to run according to the target trajectory set by the visual operating system.

[0015] Optionally, the roller structure is connected to the bottom of the bearing plate through two hydraulic rods located at both ends, and the two hydraulic rods are used to control the lifting and lowering of the roller structure.

[0016] Optionally, the camera assembly includes two main cameras arranged below the edge of the carrier plate and a bottom camera arranged below the middle of the carrier plate, and image data acquired by the main camera and / or the bottom camera are transmitted to the visual operating system through the control circuit.

[0017] Optionally, a corresponding underwater searchlight is also arranged near each main control camera.

[0018] Optionally, the ink storage box is installed at a corresponding position above the carrying plate.

[0019] Optionally, the micro grouting machine includes two storage tanks, a delivery hose, and a peristaltic pump. The two storage tanks are used to store two components of the polymer slurry. The peristaltic pump is used to alternately squeeze the elastic delivery hose through a smooth roller in the pump head after power is turned on.

[0020] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a crack detection and repair system, which includes a visual operating system and an underwater robot as described in any one of the above items, and the underwater robot is electrically signal-connected to the visual operating system.

[0021] Beneficial effects:

[0022] (1) This system uses a visual operating system to remotely control underwater robots to detect and repair underwater cracks, avoiding the safety hazards of divers working underwater.

[0023] (2) The power unit uses wheels and propellers to work together to enable the equipment to move 360° flexibly underwater, and integrates inkjet detection technology and polymer grouting technology on the equipment, realizing the integrated mechanization of underwater crack detection and grouting repair.

[0024] (3) The setting of the camera component can effectively improve the efficiency of obtaining images of the actual underwater concrete situation and monitor the grouting repair situation in real time, so as to know the grouting progress and ensure effective feedback during the grouting process.

[0025] (4) The detection component can effectively improve the accuracy of crack location through inkjet and inkjet-dredging detection, and the setting of crack sealing can achieve sealing during the grouting process, and ensure that the cracks after cleaning are not contaminated again, thereby improving the efficiency of crack repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of an underwater robot according to an embodiment of the present invention;

[0028] Figure 2for Figure 1 Left view of;

[0029] Figure 3 This is a schematic diagram of sealing cracks;

[0030] Figure 4 Schematic diagram of polymer grouting.

[0031] Description of Figure Numbers:

[0032] Label name Label name 1 Loading plate 2 wheel 3 Underwater searchlight 4 Main camera 5 Drum structure 6 Dredging head 7 Inkjet Head 8 propeller 9 Ink cartridge 10 Peristaltic Pumps 11 Storage tank 12 Control Circuit 13 frame 14 Bottom camera 15 Polymer Grouting Head 16 Sealing tape 17 Grouting holes 18 Split seam 19 Linear cracks 20 Hydraulic rod

[0033] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0034] 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.

[0035] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, in the present invention, the descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0037] Furthermore, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in the field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0038] The present invention provides a crack repair system, which includes a visual operating system and an underwater robot, wherein the underwater robot is connected to the visual operating system by electrical signals. Figure 1The figure shows a three-dimensional structural diagram of an underwater robot, which includes a carrier plate 1, and a power assembly, a camera assembly, a detection assembly, a crack repair assembly and a control circuit 12 arranged in the corresponding area of ​​the carrier plate 1; the control circuit 12 is used to connect with the external visual operating system of the underwater robot by electrical signals, and the power assembly, the camera assembly, the detection assembly and the crack repair assembly are also respectively connected with the control circuit 12 by electrical signals. And the visual operating system has a display screen, an operation interface and a processing and analysis module, the operation interface can be a physical operation key, or a touch screen operation interface integrated on the display screen, and the processing and analysis module is used to receive the image data transmitted by the control circuit 12 of the underwater robot for analysis and feedback on the display screen, so that the operating technician can control the various components in the underwater robot to execute corresponding instructions through the operation interface according to the image situation, thereby realizing remote control of the operation of the underwater robot.

[0039] Furthermore, the camera assembly is used to obtain image data obtained by the underwater robot when driven by the power assembly and transmit it to the visual operating system through the control circuit 12, so that the visual operating system controls the underwater robot to execute corresponding instructions after analyzing the received image data; the detection assembly is used to determine the crack position according to the area corresponding to the image data obtained by the camera assembly under the instruction of the visual operating system, so that the visual operating system controls the crack repair assembly to perform the repair operation;

[0040] In addition, the detection component includes a dredging head 6 and an inkjet head 7 arranged at corresponding positions below the carrier plate 1. The inkjet head 7 is used to perform inkjet processing on the suspected crack area so that the visual operating system can determine the crack position based on the image data after inkjet. The inkjet head 7 is connected to the corresponding ink storage box 9, and the dredging head 6 can be rotated by power on. The dredging head 6 is used to remove silt and other stains on the surface of the crack.

[0041] In addition, the crack repair component includes a crack sealing unit and a crack grouting repair unit. The crack sealing unit includes a roller structure 5 arranged at a corresponding position below the supporting plate 1. A sealing tape 16 is arranged on the surface of the roller structure 5. The roller structure 5 adheres the sealing tape to the crack surface in a rotating state; the crack grouting repair unit includes a polymer nozzle 15 arranged in a corresponding area below the supporting plate 1 and a micro-grouting machine at a corresponding position above the supporting plate 1. The polymer nozzle is connected to the micro-grouting machine. The polymer nozzle 15 is used to inject polymer slurry into the sealing tape attachment area to achieve crack repair. Preferably, the polymer nozzle 15 is a retractable structure.

[0042] Furthermore, if Figure 1As shown, a frame 2 is provided on the surface of the carrying plate 1. When the underwater robot needs to be started to work, the traction rope is tied to the frame 2, thereby realizing effective recovery of the underwater robot.

[0043] Furthermore, if Figure 3-4 As shown, the sealing tape 16 is also provided with dividing lines 18 which are perpendicular to the length direction of the sealing tape and are equally spaced. The dividing lines 18 are used to divide the sealing tape 16 into small-sized tapes of preset lengths, so as to facilitate breaking the tape after the grouting is completed, thereby achieving control of the required small-sized length of the sealing tape according to the length or shape of the crack.

[0044] Preferably, grouting holes 17 are also provided in the small-sized tape between adjacent dividing lines 18. During grouting repair, the polymer nozzle 15 enters the crack through the grouting holes 17 reserved in the sealing tape 16 and injects polymer slurry into the crack. The provision of grouting holes can improve the polymer grouting efficiency, thereby improving the repair efficiency.

[0045] Furthermore, if Figure 1-2 As shown, the power assembly includes a plurality of wheels 2 arranged under the carrier plate 1 and a plurality of propellers 8 on the side of the carrier plate 1. A plurality of wheels 3 are respectively arranged under the carrier plate 1 and controlled by corresponding motors. The plurality of wheels 2 are used to control the movement of the underwater robot in the plane. In this embodiment, two rows of at least four wheels can be arranged under the carrier plate 1. And the plurality of propellers 8 are used to control the lifting and movement of the underwater robot underwater. The plurality of wheels 2 cooperate with the plurality of propellers 8 to control the underwater robot to run according to the target trajectory set by the visual operating system. Specifically, each wheel 2 and propeller 8 is connected to the carrier plate 1 through a corresponding connector.

[0046] Furthermore, if Figure 3 As shown, the roller structure 5 is connected to the bottom of the bearing plate 1 through two hydraulic rods 20 at both ends. The two hydraulic rods 20 are used to control the lifting and lowering of the roller structure 5, and then the hydraulic rods can be extended and retracted and provide pressure. Under the pressure of the hydraulic rods, the roller is more secure when applying the tape. Figure 3 In the embodiment shown, taking the linear crack 19 as an example, as the underwater robot moves forward, the drum rotates accordingly, and the sealing tape 16 is closely attached to the surface of the linear crack. Thus, the crack is sealed in advance to achieve grouting sealing during the grouting process, thereby ensuring that the crack after cleaning is not contaminated again.

[0047] Furthermore, if Figure 1-2As shown, the camera assembly includes two main cameras 4 arranged below the edge of the supporting plate 1 and a bottom camera 14 arranged below the middle of the supporting plate. The image data acquired by the main camera 4 and / or the bottom camera 14 is transmitted to the visualization operating system through the control circuit 12. Preferably, the main control camera 4 and the bottom camera 14 can also rotate 0-360°, thereby avoiding the situation where some blind spots of underwater concrete cannot be effectively acquired, thereby improving the efficiency of acquiring the actual image of underwater concrete.

[0048] Furthermore, if Figure 1 As shown, a corresponding underwater searchlight 3 is also arranged near each main control camera 4 , and the underwater searchlight 3 is arranged to improve the brightness of the picture taken by the main control camera 4 .

[0049] Furthermore, if Figure 1 As shown, the ink storage box 9 is installed at a corresponding position above the carrying plate 1.

[0050] Furthermore, if Figure 1 As shown, the micro grouting machine includes two storage tanks 11, a delivery hose, and a peristaltic pump 10. The two storage tanks 11 are used to store two components of the polymer slurry. The peristaltic pump 10 is used to alternately squeeze the elastic delivery hose through a smooth roller in the pump head after being powered on, thereby forming a negative pressure area in the pipeline, so that the liquid flows to the negative pressure area, thereby achieving the purpose of pumping the fluid.

[0051] Furthermore, the above-mentioned related components are all waterproofed to increase the service life of the underwater robot.

[0052] In addition, in order to better illustrate the corresponding structure in this embodiment, the specific operations in actual use are as follows:

[0053] (1) When the system needs to be started to work, the traction rope is tied to the frame 13, and then the underwater robot is put into the water. The operator remotely controls the robot and starts the power component, including the wheel 2 and the propeller 8. The propeller 8 can achieve underwater lifting and movement, and can make the robot close to the structure through the reaction of the propeller 8. The wheel 2 can make the robot move on the plane. The wheel 2 and the propeller 8 cooperate with each other to make the robot move according to the instructions of the visual operating system. Observe the underwater situation according to the image information provided by the camera component and find the cracks of the underwater structure.

[0054] (2) Observe the underwater situation and the cracks of the underwater structure based on the image information provided by the two main control cameras 4 and the two matching underwater searchlights 3. After finding a suspected crack area, move the robot to the corresponding position and start the crack detection component. After the inkjet head 7 is lowered to a suitable height, turn on the inkjet head 7 and perform inkjet treatment on the suspected crack area. The operator determines the crack location based on the leakage situation. Then lower the dredging head 6 to fit the crack surface, start the dredging head 6, and rotate the dredging head 6 to clean the silt and other stains on the crack surface, completely exposing the crack.

[0055] (3) Figure 3 When the linear crack 19 is exposed, the operator observes the linear crack 19, starts the crack sealing device, and lowers the drum structure 5. The pressure provided by the hydraulic rod 20 makes the drum 5 more secure when sticking the tape. As the underwater robot moves forward, the drum 5 rotates accordingly, and the sealing tape 16 is closely attached to the surface of the linear crack 19. Grouting holes 17 are preset at intervals in the middle of the sealing tape 16. When the sealing tape 16 covers the crack 19, the drum stops rotating, and the robot continues to move forward to break the sealing tape 16 along the dividing seam 18.

[0056] (4) Figure 4 After sealing the crack, the operator controls the robot through the visual operating system, and moves the robot through the image data transmitted by the bottom camera 14, lowers the polymer grouting head 15, and the mobile robot aligns the polymer grouting head 15 with the grouting hole 17 in the middle of the sealing tape 16, and successively extends the grouting head into the grouting hole 17, and injects the polymer into the crack, and waits for the polymer slurry to solidify to achieve the repair of the crack.

[0057] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An underwater robot, characterized in that: The underwater robot comprises a bearing plate (1), and a power component, a camera component, a detection component, a crack repair component and a control circuit (12) arranged in a corresponding area of ​​the bearing plate (1); The control circuit (12) is used to be connected to an external visual operating system of the underwater robot via electrical signals, and the power component, camera component, detection component, and crack repair component are also respectively connected to the control circuit (12) via electrical signals; The camera assembly is used to obtain image data obtained by the underwater robot when driven by the power assembly and transmit the image data to the visual operating system through the control circuit (12), so that the visual operating system analyzes the received image data and controls the underwater robot to execute corresponding instructions; The detection component is used to determine the crack position according to the area corresponding to the image data obtained by the camera component under the instruction of the visual operating system, so that the visual operating system controls the crack repair component to perform the repair operation; The detection assembly comprises a dredging head (6) and an inkjet head (7) arranged at corresponding positions below the carrier plate (1); the inkjet head (7) is used to perform inkjet processing on a suspected crack area so that a visual operating system can determine the crack position according to image data after inkjet; the inkjet head (7) is connected to a corresponding ink storage box (9); and the dredging head (6) is used to perform a dredging operation on the area after inkjet; The crack repair assembly comprises a crack sealing unit and a crack grouting repair unit, the crack sealing unit comprises a roller structure (5) arranged at a corresponding position below the bearing plate (1), a sealing tape (16) is arranged on the surface of the roller structure (5), and the roller structure (5) adheres the sealing tape to the crack surface in a rotating state; The crack grouting repair unit comprises a polymer nozzle (15) arranged in a corresponding area below the carrier plate (1) and a micro-grouting machine at a corresponding position above the carrier plate (1), the polymer nozzle being connected to the micro-grouting machine, and the polymer nozzle (15) being used to inject polymer slurry into the sealing tape attachment area to achieve crack repair.

2. The underwater robot according to claim 1, characterized in that: The sealing tape (16) is also provided with dividing lines (18) perpendicular to the length direction of the sealing tape and at equal intervals, and the dividing lines (18) are used to divide the sealing tape (16) into small-sized tapes of preset lengths.

3. The underwater robot according to claim 1, characterized in that: Grouting holes (17) for grouting by a polymer nozzle (15) are also provided in the small-sized adhesive tape between adjacent dividing lines (18).

4. The underwater robot according to claim 1, characterized in that: The power assembly comprises a plurality of wheels (2) arranged below the carrier plate (1) and a plurality of propellers (8) on the side of the carrier plate (1); the plurality of wheels (3) are respectively arranged below the carrier plate (1) and are controlled by corresponding motors; the plurality of wheels (2) are used to control the movement of the underwater robot on a plane; the plurality of propellers (8) are used to control the lifting and movement of the underwater robot underwater; the plurality of wheels (2) and the plurality of propellers (8) cooperate to control the underwater robot to run according to a target trajectory set by a visual operating system.

5. The underwater robot according to claim 1, characterized in that: The roller structure (5) is connected to the bottom of the bearing plate (1) via two hydraulic rods (20) located at two ends, and the two hydraulic rods (20) are used to control the lifting and lowering of the roller structure (5).

6. The underwater robot according to claim 1, characterized in that: The camera assembly comprises two main cameras (4) arranged below the edge of the carrier plate (1) and a bottom camera (14) arranged below the middle of the carrier plate. Image data acquired by the main cameras (4) and / or the bottom camera (14) are transmitted to a visual operating system via a control circuit (12).

7. The underwater robot according to claim 6, characterized in that: A corresponding underwater searchlight (3) is also arranged near each main control camera (4).

8. The underwater robot according to claim 1, characterized in that: The ink storage box (9) is installed at a corresponding position above the carrying plate (1).

9. The underwater robot according to any one of claims 1 to 8, characterized in that: The micro grouting machine comprises two material storage tanks (11), a delivery hose, and a peristaltic pump (10). The two material storage tanks (11) are used to store two components of a polymer slurry. The peristaltic pump (10) is used to alternately squeeze the elastic delivery hose through a smooth roller in a pump head after being powered on.

10. A crack detection and repair system, characterized in that: The system comprises a visual operating system and an underwater robot according to any one of claims 1 to 9, wherein the underwater robot is connected to the visual operating system by electrical signals.

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