Dam body leakage detection equipment based on unmanned aerial vehicle

Abstract

The invention discloses dam body leakage detection equipment based on an unmanned aerial vehicle, and relates to the technical field of dam body leakage detection through the unmanned aerial vehicle, the unmanned aerial vehicle, a rope and a cross-shaped rod, the lower end of the unmanned aerial vehicle is sequentially provided with a first hanging frame, a second hanging frame and a third hanging frame, the four frame walls of the third hanging frame are each provided with a strip-shaped sliding rail, and each rod body of the cross-shaped rod is provided with a sliding cavity; a sliding rod is slidably connected to the sliding cavity and connected with the cross-shaped rod through a first spring, a guide wheel matched with the strip-shaped sliding rail is installed at the end, away from the cross-shaped rod, of the sliding rod, a second rough ring is rotatably installed at the center of the cross-shaped rod, a cross-shaped plate is installed on the second hanging frame, a second guide ring is fixed to the center of the cross-shaped plate, and a first rough ring is fixed to the inner wall of the second guide ring. A winding mechanism is installed on the first hanging frame, the upper end of the rope is connected with the winding mechanism, the lower end of the rope is connected with a detection body, and a cleaning mechanism is further arranged. It is ensured that the detection body freely responds to real water flow in water, the data fidelity is improved, and vector positioning and positioning precision are carried out on a leakage source.

Description

Technical Field

[0001] The present invention relates to the technical field of detecting dam seepage by drones, and specifically to a dam seepage detection device based on drones. Background Art

[0002] Dam seepage is the core hidden danger of the safety of water conservancy projects. Traditional detection methods mainly rely on manual inspections, distributed sensor networks, or drones equipped with thermal imaging / sonar devices. At present, manual inspections are inefficient and it is difficult to cover high-risk areas; the deployment cost of sensor networks is high, the maintenance is complex, and it is difficult to dynamically track the evolution of seepage; existing drone detection technologies mostly detect based on indirect physical fields (such as temperature and electromagnetic anomalies), which are easily interfered by environmental noise, especially in deep water areas or complex geological conditions, the positioning accuracy drops significantly. In addition, seepage points are often accompanied by local water flow disturbances, but existing technologies lack the direct capture and quantitative analysis of the hydrodynamic characteristics of water flow, resulting in difficulty in quickly and accurately locating the seepage source. In addition, traditional manual inspections are inefficient and risky, it is difficult to cover hidden seepage points, the detection false alarm rate is high, it is impossible to distinguish seepage from environmental interference, and there is a lack of multi-source data fusion analysis, and the seepage positioning accuracy is insufficient.

[0003] Therefore, it is necessary to provide a dam seepage detection device based on drones to solve the problems raised in the above background art. Summary of the Invention

[0004] To achieve the above object, the present invention provides the following technical solution: A dam seepage detection device based on drones, including a drone, a rope, and a cross bar. A suspension frame one, a suspension frame two, and a suspension frame three are sequentially installed at the lower end of the drone. Strip-shaped slide rails are respectively installed on the four frame walls of the suspension frame three. Each rod body of the cross bar is respectively provided with a sliding cavity. A sliding rod is slidably connected to the sliding cavity. The sliding rod is connected to the cross bar through a first spring. A guide wheel cooperating with the strip-shaped slide rail is installed at the end of the sliding rod away from the cross bar. A rough ring two is rotatably installed at the center of the cross bar. A cross plate is installed on the suspension frame two. A guide ring two is fixed at the center of the cross plate. A rough ring one is fixed on the inner wall of the guide ring two. A winding mechanism is installed on the suspension frame one. The upper end of the rope is connected to the winding mechanism. The lower end of the rope is sequentially connected to a detection body through the rough ring one and the rough ring two. And a cleaning mechanism is further provided at the lower end of the cross bar.

[0005] As a preferred technical solution of the present invention, the inner walls of the rough ring two and the rough ring one can limit the torsion of the contact surface with the rope.

[0006] As a preferred technical solution of the present invention, the drone can monitor the rotation angle of the rough ring two.

[0007] As a preferred technical solution of the present invention, the drone can monitor the deformation amount of the first spring.

[0008] As a preferred technical solution of the present invention, a close detection head is provided on the circumferential side of the lower end of the detection body.

[0009] As a preferred technical solution of the present invention, the winding mechanism includes a winding roller respectively installed on the first hanging frame, a motor for regulating the rotation of the winding roller, and a linear guide rail parallel to the winding roller. A moving seat is installed on the linear guide rail, and a first guide ring for the rope to pass through is installed on the moving seat.

[0010] As a preferred technical solution of the present invention, the cleaning mechanism includes a hanging box installed at the lower end of the cross plate. A sliding tube slides in the box cavity at one end of the hanging box close to the second rough ring. A cleaning shell head is installed at one end of the sliding tube close to the second rough ring. A brush strip is provided at the other end of the cleaning shell head. A partition frame is provided in the box cavity of the hanging box. The partition frame and the sliding tube are connected by a second spring. An air pump connected to the box cavity of the hanging box is provided on the outer wall of the hanging box.

[0011] As a preferred technical solution of the present invention, spray holes are provided on the end face of the cleaning shell head close to the second rough ring.

[0012] As a preferred technical solution of the present invention, a heating wire is provided in the box cavity of the hanging box on the side close to the air pump.

[0013] As a preferred technical solution of the present invention, the end of the cleaning shell head close to the second rough ring is of an arc structure.

[0014] Compared with the prior art, the present invention provides a dam leakage detection device based on a drone, which has the following beneficial effects:

[0015] In the present invention, through the dual-mode sensing mechanism of the rotation monitoring of the second rough ring and the deformation feedback of the first spring, the tangential torsion and radial drag effects of the water flow induced by leakage are directly captured, realizing the vector positioning of the leakage source, overcoming the ambiguity problem of traditional indirect detection methods, improving the accuracy of leakage positioning. Through the elastic adaptive setting of the first spring, the four symmetrically distributed first springs automatically calibrate the center of the cross rod through equal deformation, ensuring that the first rough ring and the second rough ring are always coaxial, avoiding measurement errors introduced by mechanical deviations, and adapting to the dynamic balance under complex water flow impacts.

[0016] In the present invention, through the self-rotation regulation of the drone, when the second rough ring rotates due to the torsion of the rope, the drone synchronously rotates around the vertical axis by the same angle, eliminating the stress distortion of the rope in real time, ensuring that the detection body freely responds to the real water flow in the water, and improving the data fidelity.

[0017] In the present invention, through the integration of the cleaning mechanism with the brush strip, spray holes and heating wire, the attached sediment, water stains and biofilms are synchronously removed during the rope winding, maintaining the stability of the friction coefficient on the rope surface, extending the service life and ensuring the reliability of the friction drive of the rough ring.

[0018] In the present invention, a single flight can cover a dam body of dozens of kilometers, and the time consumption is only 1 / 10 of that of manual inspection, improving the detection efficiency, avoiding personnel entering dangerous areas (such as landslide risk areas), enhancing the detection safety, establishing a digital file, supporting long-term health monitoring, having data traceability, and thus ensuring the safety of water conservancy facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 is a schematic diagram of the structures of hanging frame one, hanging frame two and hanging frame three in the present invention;

[0021] Figure 3 is a schematic diagram of the structure of the winding mechanism in the present invention;

[0022] Figure 4 is a schematic diagram of the structure of the cross plate in the present invention;

[0023] Figure 5 is a schematic diagram of the structure of the strip-shaped slide rail in the present invention;

[0024] Figure 6 is a schematic diagram of the structure of the rough ring two in the present invention;

[0025] Figure 7 is a schematic diagram of the structure of the cleaning mechanism in the present invention;

[0026] In the figure: 1, unmanned aerial vehicle; 2, hanging frame one; 3, hanging frame two; 4, hanging frame three; 5, winding mechanism; 6, rope; 7, cross plate; 8, strip-shaped slide rail; 9, detection body; 51, winding roller; 52, motor; 53, linear guide rail; 54, moving seat; 55, guide ring one; 71, guide ring two; 72, rough ring one; 81, cross bar; 82, sliding cavity; 83, sliding rod; 84, guide wheel; 85, spring one; 86, rough ring two; 87, cleaning mechanism; 871, hanging box; 872, cleaning shell head; 873, brush strip; 874, sliding tube; 875, spring two; 876, heating wire; 877, air pump; 8711, partition frame; 8721, spray hole; 91, detection head. DETAILED DESCRIPTION OF THE INVENTION

[0027] Refer to Figures 1-7, the present invention provides a technical solution: a dam leakage detection device based on a drone, including a drone 1, a rope 6, and a cross bar 81. A suspension frame one 2, a suspension frame two 3, and a suspension frame three 4 are sequentially installed at the lower end of the drone 1. Strip-shaped slide rails 8 are respectively installed on the four frame walls of the suspension frame three 4. Slide cavities 82 are respectively provided on each rod body of the cross bar 81. A slide rod 83 is slidably connected to the slide cavity 82. The slide rod 83 and the cross bar 81 are connected by a first spring 85. A guide wheel 84 cooperating with the strip-shaped slide rail 8 is installed at one end of the slide rod 83 away from the cross bar 81. A rough ring two 86 is rotatably installed at the center of the cross bar 81. A cross plate 7 is installed on the suspension frame two 3. A guide ring two 71 is fixed at the center of the cross plate 7. A rough ring one 72 is fixed on the inner wall of the guide ring two 71. A winding mechanism 5 is installed on the suspension frame one 2. The upper end of the rope 6 is connected to the winding mechanism 5. The lower end of the rope 6 is sequentially connected to a detection body 9 through the rough ring one 72 and the rough ring two 86. And a cleaning mechanism 87 is further provided at the lower end of the cross bar 81; in this embodiment, the suspension frame one 2, the suspension frame two 3, and the suspension frame three 4 are all arranged in a square structure, and the guide wheel 84 can move along the strip-shaped slide rail 8. Among them, the installation process of the cross bar 81 is as follows: by pressing the slide rod 83, the first spring 85 contracts, so that the guide wheel 84 is stuck on the strip-shaped slide rail 8; after the installation is completed, under the self-adaptive adjustment of the elastic force of the first spring 85, the elastic deformations of each first spring 85 are the same, so that the center of the rough ring two 86 coincides with the center of the suspension frame three 4, and the rough ring one 72 and the rough ring two 86 are coaxially arranged.

[0028] In this embodiment, the inner walls of the rough ring two 86 and the rough ring one 72 can limit the torsion of the contact surface with the rope 6. That is to say, when the rope 6 passes through the rough ring two 86, the inner ring wall of the rough ring two 86 has a large friction effect on the rope 6. When the force is transmitted through the rope 6 and the rope 6 below the rough ring two 86 has a tendency to twist, the rope 6 will drive the rough ring two 86 to rotate adaptively. The inner ring wall of the rough ring one 72 also has a large friction effect on the rope 6. When the rope 6 below the rough ring one 72 has a tendency to twist, the rough ring one 72 restricts the rope 6 above it from generating a rotation tendency.

[0029] In this embodiment, the drone 1 can monitor the rotation angle of the second rough ring 86. That is to say, when the second rough ring 86 rotates, it indicates that the rope 6 below the second rough ring 86 has been twisted. That is, the detection body 9 is affected by the water flow in the water of the dam body, which means that there is a leakage in the position area of the dam body water. By monitoring the rotation angle of the second rough ring 86 and controlling the drone 1 to rotate around its vertical axis, the rotation angle is the same as that of the second rough ring 86, the torsional stress generated by the rope 6 below the second rough ring 86 is eliminated, the stress distortion of the rope 6 is eliminated in real time, and the detection body 9 is ensured to freely respond to the real water flow in the water, improving the data fidelity, so as to improve the accuracy of the action of the water flow in the seepage area on the rope 6, so as to accurately judge and lock the leakage area.

[0030] In this embodiment, the drone 1 can monitor the deformation of the first spring 85. Since the four first springs 85 are arranged identically, in this embodiment, the compression deformation of the first spring 85 is monitored. That is to say, when the first spring 85 undergoes compression deformation, it indicates that the detection body 9 is affected by the flowing water and moves along the direction of the water flow, which causes the rope 6 to tilt and drives the cross bar 81 to move, resulting in the compression of the first spring 85. And the first spring 85 with the compression deformation corresponds to the direction of the water flow, which is the leakage area in the water of the dam body. At this time, by controlling the drone 1 to adjust its displacement according to the compression amount of the first spring 85 with compression, the leakage area in the water of the dam body is gradually locked. When the four first springs 85 do not deform or the deformation amount fluctuates slightly, it indicates that the position where the detection body 9 is located is locked as the leakage area in the water of the dam body. Among them, the situation where the deformation amount fluctuates reciprocally means that the deformation compression amount and the deformation elongation amount of one of the first springs 85 fluctuate reciprocally. When the deformation amounts of all four first springs 85 fluctuate reciprocally, it indicates that the position where the detection body 9 is located is in the leakage area position. That is to say, through the dual-mode sensing mechanism of the rotation monitoring of the second rough ring 86 and the deformation feedback of the first spring 85, the tangential torsion and radial drag effects of the water flow induced by leakage are directly captured, and the vector positioning of the leakage source is realized.

[0031] In this embodiment, a dense detection head 91 is provided on the circumferential side of the lower end of the detection body 9 to accurately lock and detect the leakage area and improve the detection accuracy.

[0032] In this embodiment, the winding mechanism 5 includes a roller 51 respectively installed on the first hanging frame 2, a motor 52 for controlling the rotation of the roller 51, and a linear guide rail 53 parallel to the roller 51. A moving seat 54 is installed on the linear guide rail 53, and a first guide ring 55 for the rope 6 to pass through is installed on the moving seat 54. The movement of the moving seat 54 is controlled by the linear guide rail 53 so that the rope 6 can be better wound on the roller 51.

[0033] In this embodiment, the cleaning mechanism 87 includes a hanging box 871 installed at the lower end of the cross-shaped plate 7. A sliding pipe 874 slides in the box cavity at one end of the hanging box 871 close to the second rough ring 86. A cleaning shell head 872 is installed at one end of the sliding pipe 874 close to the second rough ring 86. A brush strip 873 is provided at the other end of the cleaning shell head 872. A partition frame 8711 is provided in the box cavity of the hanging box 871. The partition frame 8711 and the sliding pipe 874 are connected by a second spring 875. An air pump 877 connected to the box cavity of the hanging box 871 is provided on the outer wall of the hanging box 871. Specifically, when the rope 6 needs to be wound, the air pump 877 sucks in gas and enters the box cavity of the hanging box 871. The gas pushes the sliding pipe 874 to move outwards, so that the cleaning shell head 872 approaches the surface of the rope 6. During the winding process of the rope 6, the brush strip 873 generates friction with the surface of the rope 6, synchronously removing the attached sediment, water stains and biofilm during the winding of the rope 6, maintaining the stability of the friction coefficient on the surface of the rope 6, extending the service life and ensuring the reliability of the friction drive between the first rough ring 72 and the second rough ring 86, thereby playing a role in cleaning the surface of the rope 6 and maintaining the cleanliness of the rope 6.

[0034] In this embodiment, a spray hole 8721 is provided on the end face of the cleaning shell head 872 close to the second rough ring 86, so that the gas sucked and discharged by the air pump 877 can impact the surface of the rope 6, thereby enhancing the cleaning effect of the surface of the rope 6.

[0035] In this embodiment, a heating wire 876 is provided in the box cavity of the hanging box 871 on the side close to the air pump 877, so that during the process of cleaning the rope 6, the moisture on the surface of the rope 6 can be dried, improving the protection effect on the rope 6.

[0036] In this embodiment, one end of the cleaning shell head 872 close to the second rough ring 86 is of an arc-shaped structure to better fit the rope 6.

[0037] In specific implementation, it includes the following steps:

[0038] Step 1: Set multiple detection point areas for the dam body reservoir;

[0039] Step 2: Control the drone 1 to fly above the detection point area, and unwind the rope 6 through the winding mechanism 5, so that the detection body 9 is immersed in the water of the dam body to its lower area;

[0040] Step 3: If it is monitored that the second rough ring 86 rotates, then monitor its rotation angle, and control the drone 1 to rotate around its vertical axis, and the rotation angle is the same as the rotation angle of the second rough ring 86, eliminating the torsional stress generated by the rope 6 below the second rough ring 86, so that the rope 6 can undergo adaptive morphological changes under the action of the water flow;

[0041] Step 4: If it is detected that the first spring 85 is deformed, it indicates that the detector 9 is affected by the flowing water and moves along the flowing direction of the water. At this time, the UAV 1 is adjusted for displacement according to the compression amount of the first spring 85 that shows compression, so as to gradually lock the leakage area in the water of the dam body. When the four first springs 85 are not deformed or the deformation amount shows a slight reciprocating fluctuation, it indicates that the position where the detector 9 is located is locked as the leakage area in the water of the dam body;

[0042] Step 5: When the rope 6 needs to be wound up, the cleaning mechanism 87 is used to clean the rope 6.

[0043] In this embodiment, in Step 1, the process of setting the detection point area is as follows:

[0044] S101: Mount an infrared thermal imager and a lidar (LiDAR) on the UAV. It should be noted that the temperature of the dam body reservoir is relatively stable, higher than the ground surface in winter and lower than the ground surface in summer. The temperature of the dam body fluctuates greatly under the influence of the environment. By capturing the subtle temperature differences, the detection point area is located through abnormal high or low temperature areas. In this embodiment, by mounting an infrared thermal imager and a lidar (LiDAR) device, and combining the principles of temperature difference, surface deformation and seepage characteristics, etc., the accurate identification and positioning of the leakage point are realized. The infrared thermal imager uses a FLIR A858 infrared camera with a resolution of 640×512 and a thermal sensitivity ≤0.03°C. The lidar (LiDAR) uses a Velodyne VLP-16 lidar with 300,000 point clouds per second;

[0045] S102: Set the grid coverage flight path of the UAV. The overlap rate of the infrared thermal imager monitoring needs to be greater than or equal to 60%. During the infrared scanning process, the dam body reservoir is scanned by infrared in the early morning or after sunset to avoid sunlight interference. The flight altitude is 50 to 100 meters, and the resolution is less than or equal to 10 cm / pixel. Record data such as water temperature, air temperature, and sunshine, establish a temperature reference model, and set the temperature accuracy to 0.1°C, and generate a thermal map. During the LiDAR scanning process, the surface elevation change is measured by laser pulses. And leakage may cause local settlement or uplift of the dam body. The deformation data can indirectly indicate the leakage area, generate a DEM (Digital Elevation Model) with centimeter-level accuracy, compare with historical data to detect deformation, and synchronously collect visible light images for use in recording the appearance of the leakage point;

[0046] S103: Use FLIR Tools software to mark the areas with a temperature difference greater than or equal to 2°C, extract the temperature anomaly areas, and superimpose the temperature anomaly areas with the LiDAR deformation data to exclude non-leakage factors, such as uneven sunshine factors;

[0047] S104: Mark the detection point area of the leakage point that needs to be further detected.

[0048] As described above, it is only a preferred specific embodiment of the invention, but the protection scope of the invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the invention should cover within the protection scope of the invention by making equivalent substitutions or changes according to the technical solution of the invention and its inventive concept.

Claims

1. An unmanned aerial vehicle-based dam leakage detection device, comprising an unmanned aerial vehicle (1), a rope (6), and a cross bar (81), characterized in that, At the lower end of the drone (1), a first suspension frame (2), a second suspension frame (3), and a third suspension frame (4) are successively installed. Bar-shaped sliding rails (8) are respectively installed on the four frame walls of the third suspension frame (4). Each rod body of the cross bar (81) is respectively provided with a sliding cavity (82). A sliding rod (83) is slidably connected to the sliding cavity (82). The sliding rod (83) is connected to the cross bar (81) through a first spring (85). A guide wheel (84) that cooperates with the bar-shaped sliding rail (8) is installed at one end of the sliding rod (83) away from the cross bar (81). A second rough ring (86) is rotatably installed at the center of the cross bar (81). A cross plate (7) is installed on the second suspension frame (3). A second guide ring (71) is fixed at the center of the cross plate (7). A first rough ring (72) is fixed to the inner wall of the second guide ring (71). A winding mechanism (5) is installed on the first suspension frame (2). The upper end of the rope (6) is connected to the winding mechanism (5). The lower end of the rope (6) is successively connected to a detection body (9) through the first rough ring (72) and the second rough ring (86). And a cleaning mechanism (87) is further provided at the lower end of the cross bar (81).

2. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 1, characterized in that, The inner walls of the second rough ring (86) and the first rough ring (72) can limit the torsion of the contact surface with the rope (6).

3. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 1, characterized in that, The drone (1) can monitor the rotation angle of the second rough ring (86).

4. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 1, wherein, The drone (1) can monitor the deformation amount of the first spring (85).

5. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 1, characterized in that, Closely arranged detection heads (91) are provided on the peripheral side of the lower end of the detection body (9).

6. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 1, characterized in that The winding mechanism (5) includes a winding roller (51) respectively installed on the first suspension frame (2), a motor (52) for regulating the rotation of the winding roller (51), and a linear guide rail (53) parallel to the winding roller (51). A moving seat (54) is installed on the linear guide rail (53). A first guide ring (55) for the rope (6) to pass through is installed on the moving seat (54).

7. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 1, characterized in that The cleaning mechanism (87) includes a suspension box (871) installed at the lower end of the cross plate (7). A sliding tube (874) slides in the box cavity at one end of the suspension box (871) close to the second rough ring (86). A cleaning shell head (872) is installed at one end of the sliding tube (874) close to the second rough ring (86). A brush strip (873) is provided at the other end of the cleaning shell head (872). A partition frame (8711) is provided in the box cavity of the suspension box (871). The partition frame (8711) is connected to the sliding tube (874) through a second spring (875). An air pump (877) connected to the box cavity of the suspension box (871) is provided on the outer wall of the suspension box (871).

8. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 7, characterized in that, Spray holes (8721) are provided on the end face of the cleaning shell head (872) close to the second rough ring (86).

9. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 7, characterized in that, A heating wire (876) is provided in the box cavity of the suspension box (871) on the side close to the air pump (877).

10. The dam leakage detection equipment based on an unmanned aerial vehicle according to claim 7, characterized in that, One end of the cleaning shell head (872) close to the second rough ring (86) is of an arc-shaped structure.

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