Hydraulic engineering construction quality detection method

Abstract

The invention belongs to the field of quality detection, and particularly relates to a hydraulic engineering construction quality detection method, which comprises the following steps of: carrying out preliminary quality inspection on a dam through a visual inspection method; measuring the size, the flatness and the perpendicularity of the dam through an actual measurement method to judge whether the size, the flatness and the perpendicularity conform to construction specifications or not; acquiring data through an experimental method, and analyzing and judging project quality; by establishing an informatization management system, acquisition, uploading, analysis and report generation of detection data are realized. The construction quality of the water conservancy project can be effectively detected, and especially through auxiliary detection of the dam detection robot, the defects that an existing detection method is difficult to operate and wastes time and labor are overcome; the dam detection robot is used for ultrasonic detection and resiliometer detection, the operation method is simple, safety is high, time and labor are saved, and the implementation effect is good.

Description

Technical Field

[0001] The present invention belongs to the technical field of quality inspection, and particularly relates to a method for inspecting the construction quality of water conservancy projects. Background Art

[0002] In the field of inspecting the construction quality of water conservancy projects, for example, when inspecting the construction quality of a dam, there are usually the following several inspection methods:

[0003] 1. Conduct a preliminary quality inspection of the dam by visual inspection;

[0004] 2. Measure the size, flatness, and perpendicularity of the dam by actual measurement to determine whether it meets the construction specifications;

[0005] 3. Obtain data through experimental methods and analyze and judge the project quality, etc.

[0006] In the experimental inspection, non-destructive testing of dam projects includes ultrasonic testing, rebound hammer testing, radar testing, infrared thermal imaging testing, etc. Among them, ultrasonic testing and rebound hammer testing are common testing techniques.

[0007] The rebound method is a commonly used non-destructive testing method for concrete strength. Its principle is to estimate the compressive strength of concrete by measuring the rebound value on the concrete surface, and the testing equipment is a rebound hammer.

[0008] The ultrasonic testing method evaluates the density, strength, and internal defects of concrete by measuring the propagation speed and attenuation degree of sound waves in the concrete. This method has the characteristics of high speed, high precision, and wide application range, but it is necessary to remove and clean the attachments on the concrete surface, otherwise it will affect the test results.

[0009] Whether it is the rebound method or the ultrasonic testing method, when inspecting the dam, there are difficulties in operation. Because the dam is in the wild, usually its surface is vertical or inclined, the operation is time-consuming and laborious, and the attachments such as soil and moss on its surface need to be removed cleanly, which is also time-consuming and laborious.

[0010] Based on this, the present invention is proposed. Summary of the Invention

[0011] The purpose of the present invention is to provide a method for inspecting the construction quality of water conservancy projects to solve the above problems.

[0012] A method for inspecting the construction quality of water conservancy projects includes the following steps:

[0013] Step 1. Conduct a preliminary quality inspection of the dam by visual inspection;

[0014] Step 2: Measure the size, flatness, and perpendicularity of the dam through on-site measurement to determine whether it meets the construction specifications;

[0015] Step 3: Obtain data through experimental methods and analyze and judge the project quality;

[0016] Step 4: Establish an information management system to achieve the collection, upload, analysis, and report generation of detection data.

[0017] For further improvement, in Step 1, the visual inspection method is used for preliminary quality inspection through observation, touch, tapping, and irradiation, for the intuitive judgment of surface quality. The inspection indicators are:

[0018] Observe whether the appearance of the dam meets the quality standards;

[0019] Check whether there is any hollowing on the surface of the dam body by tapping;

[0020] In Step 3, the tests included in the experimental method are:

[0021] Physical property tests of building materials: including concrete strength tests, slump tests, tensile strength tests, density tests, anti-corrosion tests, immersion tests, and leakage tests;

[0022] Chemical analysis tests of building materials: used to detect the chemical components in building materials;

[0023] Non-destructive testing tests for dam projects: including ultrasonic testing, rebound hammer testing, radar testing, and infrared thermal imaging testing;

[0024] Among them, ultrasonic testing and rebound hammer testing are carried out using a dam inspection robot.

[0025] For further improvement, the bottom of the dam inspection robot is provided with a water spray hole, a scraper, two groups of active walking wheels, a friction roller, a lift-type detection equipment probe, a rear wheel, and at least four lift-type electromagnetic columns. The water spray hole is provided with at least one and is located at the front side of the bottom of the dam inspection robot. The rear wheel and the two groups of active walking wheels are arranged in an isosceles triangle structure, and the rear wheel is located at the rear side of the bottom of the dam inspection robot. The lift-type electromagnetic columns and the lift-type detection equipment probe are both located in the middle area of the bottom of the dam inspection robot.

[0026] For further improvement, the lift-type detection equipment probe is an ultrasonic probe of a concrete ultrasonic detector or a detection probe of a rebound hammer.

[0027] For further improvement, the friction roller includes a cylinder body, a driving shaft installed on one side of the cylinder body, and an ultrasonic vibration rod installed on the other side of the cylinder body. The cylinder body includes two hard cylinder bottoms. The center of the first hard cylinder bottom is fixedly connected to the driving shaft. A bearing is embedded in the center of the second hard cylinder bottom. The second hard cylinder bottom is rotatably connected to the head end of the ultrasonic vibration rod through a mounting bearing. An elastic ring plate is integrally connected to the outer periphery of the hard cylinder bottom. A rubber sleeve is hermetically connected between the two elastic ring plates. A non-Newtonian fluid accommodating cavity is formed by the two hard cylinder bottoms, the two elastic ring plates, and the rubber sleeve.

[0028] A spring body is also integrally connected to the head end of the ultrasonic vibration rod. The column corresponding to the spring body has a single-leaf hyperboloid structure. The non-Newtonian fluid accommodating cavity is filled with a non-Newtonian fluid medium one.

[0029] For further improvement, the non-Newtonian fluid medium one is composed of starch and water mixed in a mass ratio of 3:1.

[0030] For further improvement, when the probe of the lifting detection device is the ultrasonic probe of a concrete ultrasonic detector, the exposed end of the ultrasonic probe is also wrapped with an airbag bag, and the airbag bag is filled with a non-Newtonian fluid medium two.

[0031] For further improvement, the non-Newtonian fluid medium two is composed of starch, glycerol, and water mixed in a mass ratio of 2:1:1.

[0032] For further improvement, the dam inspection robot is also equipped with a pull rope, a guide wheel, a winch, a water pipe, and a water pump. The water pump is connected to the water spraying holes through the water pipe.

[0033] For further improvement, the head end of the pull rope is bound and connected to the upper end of the dam inspection robot. The pull rope is connected to the winch after passing around the guide wheel. The dam inspection robot walks on the side wall of the dam body until the dam inspection robot walks to the designated area. Water is sprayed at the water spraying holes. The dam inspection robot levels the designated area through a scraper and scrubs the designated area through a friction roller. Finally, the dam inspection robot moves to the designated position within the designated area. All the lifting electromagnetic columns extend out and contact the side wall of the dam body. The lifting electromagnetic columns are energized, and the lifting electromagnetic columns are fixed on the outer side of the dam body by adsorbing the steel bars in the dam body. Finally, the probe of the lifting detection device extends out and contacts the side wall of the dam body for measurement operations.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] The method for detecting the construction quality of water conservancy projects can effectively detect the construction quality of water conservancy projects. Especially through the auxiliary detection of the dam inspection robot, it can solve the defects of difficult operation, time-consuming and laborious of the existing detection methods. With the help of the dam inspection robot for ultrasonic detection and rebound instrument detection, the operation method is simple, with high safety, time-saving and labor-saving, and the implementation effect is good. Brief Description of the Drawings

[0036] Figure 1 It is a schematic structural diagram of the dam inspection robot described in the present invention;

[0037] Figure 2 It is a schematic diagram of the dam inspection robot described in the present invention during detection;

[0038] Figure 3 It is a schematic diagram inside the friction roller described in the present invention;

[0039] Figure 4 It is a curve graph of the content of glycerol in non-Newtonian fluid medium II and the error rate. Detailed Embodiments

[0040] The present invention will be further described in detail below through specific embodiments in conjunction with the drawings.

[0041] In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "a plurality" is two or more; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0042] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0043] Embodiment 1

[0044] A method for detecting the construction quality of water conservancy projects includes the following steps:

[0045] Step 1: Conduct a preliminary quality inspection of the dam through visual inspection;

[0046] Visual inspection is a preliminary quality inspection carried out by means of observation, touch, tapping, and irradiation, used for the intuitive judgment of surface quality. The inspection indicators are:

[0047] Observe whether the appearance of the dam meets the quality standards;

[0048] Check whether there is any hollowing phenomenon on the surface of the dam body by tapping.

[0049] Step 2: Measure the dimensions, flatness, and perpendicularity of the dam through actual measurement methods to determine whether they meet the construction specifications;

[0050] Common tools include steel tapes, feeler gauges, spirit levels, theodolites, etc.

[0051] Step 3: Obtain data through experimental methods and analyze and judge the project quality;

[0052] The tests included in experimental methods are:

[0053] Physical property tests of building materials: including concrete strength tests, slump tests, tensile strength tests, density tests, anti-corrosion inspections, immersion tests, and leakage detections;

[0054] Chemical analysis tests of building materials: used to detect the chemical components in building materials;

[0055] Non-destructive testing tests for dam projects: including ultrasonic testing, rebound hammer testing, radar testing, and infrared thermal imaging testing;

[0056] Among them, ultrasonic testing and rebound hammer testing are carried out using a dam inspection robot.

[0057] Step 4: Implement an information management system to realize the collection, upload, analysis, and report generation of inspection data; ensure full-process traceability.

[0058] Example 2

[0059] As Figures 1 to 3 shown, the bottom of the dam inspection robot 10 is provided with a water spray hole 11, a scraper 13, two groups of active walking wheels 12, a friction roller 30, a lifting inspection equipment probe 20, a rear wheel 14, and at least four lifting electromagnetic columns 15. The water spray hole 11 is provided with at least one and is located at the front side of the bottom of the dam inspection robot 10. The rear wheel 14 and the two groups of active walking wheels 12 are arranged in an isosceles triangle structure and the rear wheel 14 is located at the rear side of the bottom of the dam inspection robot 10. The lifting electromagnetic columns 15 and the lifting inspection equipment probe 20 are both located in the middle area of the bottom of the dam inspection robot 10.

[0060] Among them, the probe 20 of the lifting detection device is the ultrasonic probe of a concrete ultrasonic detector or the detection probe of a rebound hammer. For example, there are two dam inspection robots 10, which are respectively loaded with the ultrasonic probe of the concrete ultrasonic detector and the detection probe of the rebound hammer.

[0061] The friction roller 30 includes a cylinder body, a driving shaft 31 installed on one side of the cylinder body, and an ultrasonic vibrator 32 installed on the other side of the cylinder body. The cylinder body includes two hard cylinder bottoms 34. The center of the first hard cylinder bottom 34 is fixedly connected to the driving shaft 31. A bearing 33 is embedded in the center of the second hard cylinder bottom 34. The second hard cylinder bottom 34 is rotatably connected to the head end of the ultrasonic vibrator 32 through the installed bearing 33; an elastic ring plate 35 is integrally connected to the outer periphery of the hard cylinder bottom 34. A rubber sleeve 38 is hermetically connected between the two elastic ring plates 35. A non-Newtonian fluid containing cavity 39 is formed by the two hard cylinder bottoms 34, the two elastic ring plates 35 and the rubber sleeve 38.

[0062] The head end of the ultrasonic vibrator 32 is also integrally connected with a spring body 36. The cylinder corresponding to the spring body 36 is a hyperboloid of one sheet structure; the non-Newtonian fluid containing cavity 39 is filled with a non-Newtonian fluid medium one.

[0063] It should be noted that: the cylinder corresponding to the spring usually refers to the physical model of the spring. For example, the cylinder corresponding to a cylindrical helical spring is a cylinder, and the cylinder corresponding to a conical spring is a frustum of a cone.

[0064] The non-Newtonian fluid medium one is composed of starch and water mixed in a mass ratio of 3:1.

[0065] When the probe 20 of the lifting detection device is the ultrasonic probe of a concrete ultrasonic detector, the exposed end of the ultrasonic probe is also wrapped with an airbag, and the airbag is filled with a non-Newtonian fluid medium two.

[0066] The non-Newtonian fluid medium two is composed of starch, glycerol and water mixed in a mass ratio of 2:1:1.

[0067] The dam inspection robot 10 is also equipped with a pull rope 16, a guide wheel 51, a winch, a water pipe, and a water pump. The water pump is connected to the water spraying hole 11 through the water pipe.

[0068] Specific test method:

[0069] The head end of the pull rope 16 is fixedly connected to the upper end of the dam inspection robot 10. The pull rope 16 is wound around the guide pulley 51 and then connected to the winch. The dam inspection robot 10 walks on the side wall of the dam body 50 until it reaches the designated area. Then, the water pump pumps water, and the water is conveyed through the water pipe. Finally, water is sprayed at the water spraying hole 11 to moisten the relevant area, thereby reducing the difficulty of the scraper 13 to level and scrape. The dam inspection robot 10 is equipped with a camera for real-time viewing. The principle of the rear wheels 14 and the two sets of active walking wheels 12 is the same as that of a floor cleaning robot.

[0070] The dam inspection robot 10 levels the designated area through the scraper 13 and scrubs the designated area through the friction roller 30. Finally, the dam inspection robot 10 moves to the designated position within the designated area, and all the lifting electromagnetic columns 15 extend and contact the side wall of the dam body 50. The lifting electromagnetic columns 15 are electrified, and the lifting electromagnetic columns 15 are fixed on the outside of the dam body 50 by adsorbing the steel bars in the dam body 50. Finally, the lifting detection device probe 20 extends and contacts the side wall of the dam body 50 for measurement operations.

[0071] First of all, the lifting electromagnetic columns 15 and the lifting detection device probe 20 are lifted by conventional electromagnetic columns and conventional detection device probes. The relevant lifting technologies are existing technologies and will not be elaborated here.

[0072] Secondly, for the technology of driving the friction roller 30 to rotate, it is also an existing technology and will not be elaborated here. As for why the lifting technology is not used to drive the friction roller 30 to also lift, there are two disadvantages:

[0073] ①. Lifting + rotation. To simultaneously achieve these two functions, its structure becomes very complex, and it is difficult to integrate it inside a floor cleaning robot-like device.

[0074] ②. Even if lifting + rotation can be achieved, the existing friction rollers generally have a certain elastic surface, and they cannot achieve a very good fitting effect with the dam surface. It is similar to a "hard-on-hard" friction cleaning, and the cleaning effect is limited.

[0075] In the present invention, first of all, when the ultrasonic vibration rod 32 is not started, the non-Newtonian fluid medium I exhibits fluid properties. Therefore, the rubber sleeve 38 can become very soft, and even when walking, the contact with the side wall of the dam body causes little wear.

[0076] Secondly, when it is necessary to rotate the friction roller 30 to clean the surrounding soil that has been loosened by the scraper 13, the ultrasonic vibration rod 32 is started and transmitted to the non-Newtonian fluid medium 1 through the spring body 36. The non-Newtonian fluid medium is composed of starch and water and has shear thickening properties. Under high-frequency vibration and shearing, it can harden quickly, so that the rubber sleeve 38 can fit tightly and contact the side wall of the dam body 50. Finally, the friction roller 30 rotates to perform the cleaning operation.

[0077] Therefore, the friction roller 30 of the present invention only needs to rotate without lifting, and is more suitable for integration inside a small robot.

[0078] Furthermore, in order to improve the friction effect, a large number of patterns can be provided on the outer surface of the rubber sleeve 38 .

[0079] Through experiments, it was found that the airbag bag combined with the non-Newtonian fluid medium 2 made it unnecessary to apply coupling agent between the ultrasonic probe of the concrete ultrasonic detector and the side wall of the dam body; because, firstly, the non-Newtonian fluid medium 2 behaves like a water-like fluid in the absence of high-frequency vibration, so the airbag bag can fit tightly to the side wall of the dam body after lifting; then, the high-frequency vibration brought by the ultrasonic wave can make the non-Newtonian fluid medium 2 harden quickly, thus better coupling. For example, by simulating the detection of internal voids in concrete, the existing direct contact method has a detection rate of 100% and an error rate of 0; while the present invention uses the airbag bag combined with the non-Newtonian fluid medium 2, with a detection rate of 98% (50 times, 49 times detected), and an error rate of 2%, which is within 3% and belongs to the acceptable range.

[0080] Example 3

[0081] In this example, the influence of different compositions of non-Newtonian fluid medium 2 on the error rate (void detection) is explored, as shown in Table 1:

[0082] Table 1

[0083] Two-component non-Newtonian fluid medium Error rate (%) Starch, glycerol and water (mass ratio 2:1:1) 2 Starch, ethanol and water (mass ratio 2:1:1) 14 Starch, silicone oil and water (mass ratio 2:1:1) 22 Starch and water (mass ratio 3:1) 32 Starch and water (mass ratio 2:1) 16 Starch and water (mass ratio 1:1) 14

[0084] Example 4

[0085] In this example, the influence of the glycerol content in the non-Newtonian fluid medium 2 on the error rate (void detection) is explored. Figure 4 .

[0086] It can be seen from Examples 3 and 4 that, preferably, the second non-Newtonian fluid medium is a mixture of starch, glycerol and water in a mass ratio of 2:1:1.

[0087] Example 5

[0088] In this example, the cleaning rate of clay by the structure of the column corresponding to the spring body is shown in Table 2:

[0089] Table: 2

[0090] Structure of the cylinder corresponding to the spring body Cleaning rate (%) Hyperboloid of one sheet structure 100 Cylindrical structure 43 Frustum-shaped structure 51

[0091] Testing method for cleaning rate:

[0092] 1. Specimen preparation:

[0093] Mix clay and water to make mud; lay a layer of mud on the concrete floor, press it with a 10-kg stone slab for 12 hours, and dry it in the sun so that a clay layer with a thickness of 1 cm adheres to the surface of the concrete floor, and the moisture content of the clay layer is 1.9% - 2.3%; trim the clay layer to a square structure with a side length of 6 cm.

[0094] 2. Testing preparation:

[0095] First, draw a square marking frame around the clay layer with a marker pen, then moisten the clay layer with 100 g of water for 1 minute; then use the friction roller of the dam inspection robot to clean the moistened clay layer, and the water flow rate at the water spray hole 11 is 1.8 L / min; clean for 2 minutes, remove the dam inspection robot, and use a hair dryer to dry the concrete floor. Detect the remaining mud area S2 in the marking frame by observation and the grid method; cleaning rate = 1 - S2 / S1; S1 is the area of the marking frame.

[0096] In addition, it should be noted that the spring body of the present invention is made of spring steel. If the spring body is made of cast iron with very poor elasticity, the corresponding cleaning rate is 69%.

[0097] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for detecting the construction quality of a water conservancy project, characterized in that: It includes the following steps: Step 1: Conduct a preliminary quality inspection of the dam by visual inspection; Step 2: Measure the dimensions, flatness, and perpendicularity of the dam by actual measurement to determine whether they meet the construction specifications; Step 3: Obtain data through experimental methods and analyze and judge the project quality; Step 4: Establish an information management system to realize the collection, upload, analysis, and report generation of detection data.

2. The method for detecting the construction quality of a water conservancy project according to claim 1, characterized in that: In Step 1, the visual inspection method conducts a preliminary quality inspection through observation, touch, tapping, and irradiation, and is used for the intuitive judgment of surface quality. The inspection indicators are: Observe whether the appearance of the dam meets the quality standards; Check whether there is any hollowing phenomenon on the surface of the dam body by tapping; In Step 3, the tests included in the experimental method are: Physical property tests of building materials: including concrete strength tests, slump tests, tensile strength tests, density tests, anti-corrosion tests, immersion tests, and leakage tests; Chemical analysis tests of building materials: used to detect the chemical components in building materials; Non-destructive testing tests for dam projects: including ultrasonic testing, rebound hammer testing, radar testing, and infrared thermal imaging testing; Among them, ultrasonic testing and rebound hammer testing are carried out using a dam inspection robot.

3. A method for detecting the construction quality of a water conservancy project according to claim 1, characterized in that: The bottom of the dam inspection robot (10) is provided with a water spray hole (11), a scraper (13), two groups of active walking wheels (12), a friction roller (30), a lifting detection device probe (20), a rear wheel (14), and at least four lifting electromagnetic columns (15). The water spray hole (11) is provided with at least one and is located at the front side of the bottom of the dam inspection robot (10). The rear wheel (14) and the two groups of active walking wheels (12) are arranged in an isosceles triangle structure, and the rear wheel (14) is located at the rear side of the bottom of the dam inspection robot (10). The lifting electromagnetic columns (15) and the lifting detection device probe (20) are both located in the middle area of the bottom of the dam inspection robot (10).

4. A method for detecting the construction quality of a water conservancy project according to claim 3, characterized in that: The lifting detection device probe (20) is an ultrasonic probe of a concrete ultrasonic detector or a detection probe of a rebound hammer.

5. A method for detecting the construction quality of a water conservancy project according to claim 4, characterized in that: The friction roller (30) includes a cylinder body, a driving shaft (31) installed on one side of the cylinder body, and an ultrasonic vibration rod (32) installed on the other side of the cylinder body. The cylinder body includes two hard cylinder bottoms (34). The center of the first hard cylinder bottom (34) is fixedly connected to the driving shaft (31). A bearing (33) is embedded in the center of the second hard cylinder bottom (34). The second hard cylinder bottom (34) is rotatably connected to the head end of the ultrasonic vibration rod (32) through the installed bearing (33). An elastic ring plate (35) is integrally connected to the outer periphery of the hard cylinder bottom (34). A rubber sleeve (38) is hermetically connected between the two elastic ring plates (35). A non-Newtonian fluid accommodating cavity (39) is formed by the two hard cylinder bottoms (34), the two elastic ring plates (35), and the rubber sleeve (38); The head end of the ultrasonic vibration rod (32) is also integrally connected with a spring body (36). The column corresponding to the spring body (36) is of a single-leaf hyperboloid structure. The non-Newtonian fluid accommodating cavity (39) is filled with a non-Newtonian fluid medium one.

6. A method for detecting the construction quality of a water conservancy project according to claim 5, characterized in that: The non-Newtonian fluid medium one is composed of starch and water mixed in a mass ratio of 3:

1.

7. A method for detecting the construction quality of a water conservancy project according to claim 5, characterized in that: When the probe (20) of the lifting detection device is the ultrasonic probe of a concrete ultrasonic detector, the exposed end of the ultrasonic probe is further wrapped with an airbag, and the airbag is filled with a non-Newtonian fluid medium two.

8. A method for detecting the construction quality of a water conservancy project according to claim 7, characterized in that: The non-Newtonian fluid medium two is composed of starch, glycerol and water mixed in a mass ratio of 2:1:

1.

9. A method for detecting the construction quality of a water conservancy project according to claim 7, characterized in that: The dam inspection robot (10) is also equipped with a pull rope (16), a guide wheel (51), a winch, a water pipe and a water pump, and the water pump is connected to the water spraying hole (11) through the water pipe.

10. A method for detecting the construction quality of a water conservancy project according to claim 9, characterized in that: The head end of the pull rope (16) is fixedly connected to the upper end of the dam inspection robot (10). The pull rope (16) is connected to the winch after passing around the guide wheel (51). The dam inspection robot (10) walks on the side wall of the dam body (50) until it walks to the designated area. Water is sprayed at the water spraying hole (11). The dam inspection robot (10) levels the designated area through the scraper (13) and scrubs the designated area through the friction roller (30). Finally, the dam inspection robot (10) moves to the designated position within the designated area, and all the lifting electromagnetic columns (15) extend out and contact the side wall of the dam body (50). The lifting electromagnetic columns (15) are electrified, and the lifting electromagnetic columns (15) are fixed on the outside of the dam body (50) by adsorbing the steel bars in the dam body (50). Finally, the probe (20) of the lifting detection device extends out and contacts the side wall of the dam body (50) to perform measurement operations.

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