Dam body crack anti-seepage repairing device for hydropower station construction

Abstract

The invention discloses a dam body crack anti-seepage repairing device for hydropower station construction, and relates to the technical field of hydraulic engineering facility maintenance, the dam body crack anti-seepage repairing device comprises a dam body, the surface of the dam body is provided with a walking guide rail; and the ground base station comprises a slurry storage and pumping unit, an energy unit and a main controller, a multi-foot bionic structure is adopted, intelligent balance weight adjustment of the electromagnetic sliding iron in the buffer sliding groove is matched, the gravity center position can be automatically adjusted according to the dam body gradient, and the dynamic stability under the complex dam face condition is ensured. Meanwhile, through a three-level precision guarantee system, area-level coarse positioning of the mobile robot platform, millimeter-level fine positioning of the joint type mechanical arm and submillimeter-level micro positioning of the micro-motion platform are combined with real-time feedback of a six-dimensional force sensor, and high-precision operation of the fixed base level is completed on the mobile platform. The industrial problem that the operation precision of mobile equipment is insufficient is thoroughly solved, and the integrated continuous operation process of joint cleaning, pre-sealing, grouting and compacting is achieved.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering facility maintenance technology, specifically to a device for repairing cracks in the dam body of a hydropower station. Background Technology

[0002] During long-term operation, hydroelectric dams develop various cracks on their concrete surfaces due to factors such as water pressure, temperature changes, foundation settlement, and material aging. These cracks not only affect the aesthetics of the structure but also serve as major channels for leakage, seriously threatening the structural safety and durability of the dam.

[0003] Currently, in the actual process of using seepage prevention and repair devices for dam cracks in hydropower station construction, the seepage prevention and repair of dam cracks mainly relies on the following methods: First, manual suspended platform operation: maintenance personnel ride in a suspended platform to the work surface and use hand tools to clean cracks, inject grout, and perform surface treatment. This method has extremely high safety risks associated with working at heights, is inefficient, and the quality of work heavily depends on the experience and sense of responsibility of the workers, resulting in inconsistent quality. Second, erecting fixed scaffolding: constructing a large scaffolding platform on the dam surface. Although this method provides workers with a work surface, the construction and dismantling are extremely time-consuming and costly, seriously affecting the normal operation of the reservoir, and has very poor flexibility, making it difficult to deal with scattered cracks. To overcome the risks of manual operation, existing technologies have developed devices that install fixed guide rails on the dam surface and use electric sliding seats to carry tools for work. However, the deployment of guide rails has poor flexibility, the heavy guide rail system is difficult to install, and once installed, its working range is strictly limited, unable to cover cracks outside the guide rail layout area. For dams with curved surfaces or dam faces with obstacles (such as buttresses or gallery entrances), the installation and applicability of guide rail systems are very poor. Therefore, it is necessary to propose a dam crack seepage prevention and repair device for hydropower station construction. Summary of the Invention

[0004] The purpose of this invention is to provide a dam crack seepage prevention and repair device for hydropower station construction that can replace high-risk manual operations, overcome the limitations of guide rail systems, and achieve high efficiency, flexibility, and full automation, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a seepage prevention and repair device for dam cracks in hydropower station construction, comprising: The dam body has guide rails installed on its surface; The ground base station includes a slurry storage and pumping unit, an energy unit, and a main controller, and the ground base station forms a reciprocating sliding connection on a walking guide rail; Mobile robot platform for autonomous movement on the dam surface; A lightweight, flexible pipeline connects the ground base station to the mobile robot platform, used to transport slurry, electricity, and data between the two. The mobile robot platform is equipped with an articulated robotic arm and a multi-functional repair tool head integrated at the end of the robotic arm. The mobile robot platform performs large-area crack scanning, and the articulated robotic arm and multi-functional repair tool head perform crack cleaning, grouting and compaction operations on the cracks.

[0006] Preferably, the mobile robot platform includes: The biomimetic multi-legged mobile chassis has an integrated adsorption mechanism at the end of its legs, which can adaptively adjust according to the tilt angle of the dam. A robot controller mounted on the biomimetic multi-legged mobile chassis is used to control movement and adhesion. The pose perception module is used to monitor the posture and position of the mobile robot platform in real time. The main mobile end is rotatably connected to the bionic multi-legged mobile chassis and hinged to the robot controller. A single driver is installed on the top of the main mobile end, and a flexible hinge is installed on the bottom of the main mobile end. The output end of the single driver is connected to the flexible hinge and connected to the bionic multi-legged mobile chassis. A drive universal structure is installed on the side of the robot controller.

[0007] Preferably, the mobile robot platform has buffer grooves on both sides, and an electromagnetic sliding iron is slidably connected inside the buffer groove. A flexible connecting multi-directional joint is installed on the side end of the electromagnetic sliding iron, and a multi-axis bionic foot is installed on the side end of the flexible connecting multi-directional joint. The bottom end of the multi-axis bionic foot is connected to the driving universal structure.

[0008] Preferably, the lightweight flexible conduit is a composite cable structure, comprising, from the inside out: The slurry conveying inner pipe and the waterproof hose running along the inner wall of the slurry conveying inner pipe are used to convey slurry and waterproof adhesive respectively. Power cables and data optical fibers surround the inner tube of the slurry delivery system; The tensile braided layer is made of high-performance fibers; Abrasion-resistant protective outer layer.

[0009] Preferably, the multifunctional repair tool head includes a grooving frame, a drive torque motor is rotatably connected to the front end of the grooving frame, a double tool head connector is connected to the output end of the drive torque motor, a grouting head and a cleaning head are respectively connected to the two ends of the double tool head connector, a servo rotation structure is installed on the front external end of the grouting head, a waterproof adhesive injection head is rotatably connected inside the servo rotation structure, and the pipes of the waterproof adhesive injection head and the grouting head are not connected.

[0010] Preferably, the outside of the slotting frame is connected to an injection valve, the side end of the injection valve is connected to an injection pump box, the side end of the injection pump box is connected to a slurry mixing unit, the slurry mixing unit is installed on the top of the mobile robot platform, the side end of the slurry mixing unit is connected to a material guiding and separating chamber, the material guiding and separating chamber is connected to a lightweight flexible pipeline, the side end of the waterproof adhesive injection head is connected to a waterproof adhesive injection end, the side end of the waterproof adhesive injection end is connected to a material guiding pipe, and the side end of the material guiding pipe is connected to the material guiding and separating chamber.

[0011] Preferably, the mobile robot platform achieves regional coarse positioning on the dam surface, the articulated robotic arm achieves millimeter-level fine positioning within the region, and a micro-motion platform disposed between the articulated robotic arm and the multi-functional repair tool head is used to achieve sub-millimeter-level micro-positioning. The micro-motion platform is a piezoelectric ceramic drive platform, and a six-dimensional force sensor is disposed between the micro-motion platform and the multi-functional repair tool head. The output signal of the six-dimensional force sensor is used for closed-loop control of the micro-motion platform's movement to maintain a constant working contact force. During the movement of the mobile robot platform, a non-contact scanner is used to quickly survey the dam surface and generate a crack map. After the mobile robot platform comes to rest and is locked in place, the articulated robotic arm and the multi-functional repair tool head are controlled to perform precise measurement and repair work on the cracks based on the crack map.

[0012] Preferably, the ground base station further includes a temperature control and conveying unit and an automatic retraction and extension mechanism installed on the side frame of the ground base station. The top of the temperature control and conveying unit is covered with an angle-adjustable photovoltaic structure, which is used to automatically retract and extend the lightweight flexible pipeline to maintain constant tension when the mobile robot platform moves. The bottom of the automatic retraction and extension mechanism is equipped with a retraction and extension adjustment unit, and the bottom of the retraction and extension adjustment unit is equipped with a rope connection drive end. The side end of the temperature control and conveying unit is connected to a material conveying hose. The connection drive end and the material conveying hose are connected. The material conveying hose and the lightweight flexible pipeline are connected. The connection drive end is used to drive the lightweight flexible pipeline to adjust according to the movement of the mobile robot platform.

[0013] Preferably, the bottom surface of the mobile robot platform is provided with a compaction part, the compaction part including an electric universal structure installed at the bottom of the mobile robot platform, the bottom of the electric universal structure is connected to an electric guide rod, and the bottom of the electric guide rod is connected to a compaction plate.

[0014] Preferably, the grouting head, cleaning head, waterproof adhesive injection head, and compaction plate are configured to be selectively activated by a PLC controller or a robot controller. The mobile robot platform has a built-in self-diagnosis module and a function reconfiguration module for real-time judgment of the grouting head, cleaning head, waterproof adhesive injection head, and compaction plate based on sensor data. The function reconfiguration module is used to perform a predetermined degradation operation when any structure fails. The degradation operation includes: initiating a high-pressure flushing process when the grouting head is blocked, and controlling the body of the mobile robot platform to press down and compact the repair material when the compaction plate fails.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention employs a multi-legged biomimetic structure, combined with intelligent counterweight adjustment of the electromagnetic sliding iron within the buffer chute, to automatically adjust the center of gravity position according to the dam slope, ensuring dynamic stability under complex dam surface conditions. Simultaneously, a three-level precision assurance system enables regional-level coarse positioning of the mobile robot platform, millimeter-level fine positioning of the articulated robotic arm, and sub-millimeter-level micro-positioning of the micro-motion platform. Combined with real-time feedback from a six-dimensional force sensor, this achieves high-precision operations at the fixed-base level on the mobile platform, completely solving the industry problem of insufficient precision in mobile equipment operations. Furthermore, an integrated multi-functional repair tool head allows for rapid switching between the crack-cleaning head and the grouting head via a driving torque motor, and is equipped with an independent waterproof adhesive injection system, realizing an integrated continuous operation process of crack cleaning, pre-sealing, grouting, and compaction. This design not only significantly improves operational efficiency but also effectively prevents grout leakage through the pre-sealing process, ensuring the reliability of repair quality. In addition, the overall device integrates grout delivery, power supply, and data communication, along with an automatic deployment and retraction mechanism, ensuring both the robot's freedom of movement and providing safety fall protection. The temperature control unit and photovoltaic structure of the ground base station ensure the stability of the slurry performance and the energy sustainability of the system, significantly improving the system's reliability and practicality. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main view of a dam crack seepage prevention and repair device for hydropower station construction according to the present invention; Figure 2 This invention relates to a device for repairing cracks and preventing seepage in the dam body of a hydropower station. Figure 1 A magnified structural diagram at point A; Figure 3 This is a partial structural diagram of the mobile robot platform in a dam crack seepage prevention and repair device for hydropower station construction according to the present invention; Figure 4 This invention relates to a device for repairing cracks and preventing seepage in the dam body of a hydropower station. Figure 1 A magnified structural diagram at point C; Figure 5 This is a schematic diagram of the lightweight flexible pipeline in a dam crack seepage prevention and repair device for hydropower station construction according to the present invention; Figure 6 This invention relates to a device for repairing cracks and preventing seepage in the dam body of a hydropower station. Figure 1 A magnified structural diagram at point B; Figure 7 This is a schematic diagram of the compaction section in a dam crack seepage prevention and repair device for hydropower station construction according to the present invention; Figure 8 This is a schematic diagram of the self-diagnosis module and the functional reconstruction module in a dam crack seepage prevention and repair device for hydropower station construction according to the present invention.

[0017] In the diagram: 100, Ground base station; 110, Slurry storage and pumping unit; 120, Energy unit; 130, Main controller; 140, Temperature control and conveying unit; 150, Automatic take-up and take-down mechanism; 160, Take-up and take-down adjustment unit; 170, Connecting drive end; 200, Dam body; 300, Walking guide rail; 400, Mobile robot platform; 401, Drive universal structure; 402, Robot controller; 403, Single driver; 404, Flexible hinge; 405, Bionic multi-legged mobile chassis; 406, Adsorption mechanism; 407, Main moving end; 408, Buffer chute; 409, Electromagnetic sliding iron; 410, Flexible connecting multi-directional rotor. Section; 500, Lightweight flexible pipeline; 510, Slurry conveying inner pipe; 520, Power conductor; 530, Data fiber optic cable; 540, Waterproof hose; 550, Tensile braided layer; 560, Wear-resistant protective outer layer; 600, Articulated robotic arm; 700, Multifunctional repair tool head; 701, Grooving frame; 702, Drive torque motor; 703, Double tool head connector; 704, Grouting head; 705, Servo rotation structure; 706, Waterproof glue injection head; 707, Cleaning head; 708, Material guide pipe; 709, Injection valve; 800, Compaction section; 801, Electric universal structure; 802, Electric guide rod; 803, Compaction plate. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] To address the problems of high risk, low efficiency, and unstable quality associated with manual labor in existing technologies, as well as the inconvenience, lack of flexibility, and limited coverage of fixed guide rail devices, this invention provides a seepage prevention and repair device for dam cracks in hydropower station construction, referring to... Figures 1-4The diagram shows: a dam body 200 (serving as the target surface for repair work), on which a walking guide rail 300 is mounted (providing a movement path for the ground base station 100, enabling the ground base station 100 to move longitudinally along the dam surface of the dam body 200, expanding the coverage area); a ground base station 100, which includes a slurry storage and pumping unit 110, an energy unit 120, and a main controller 130, with the ground base station 100 forming a reciprocating sliding connection on the walking guide rail 300; a mobile robot platform 400 for autonomous movement on the dam body surface; a lightweight flexible pipeline 500 connecting the ground base station 100 and the mobile robot platform 400 for transporting slurry, electricity, and data between the two; and a mobile robot platform 400 equipped with an articulated robotic arm 600 and a multi-functional repair tool head 700 integrated at the end of the robotic arm. The mobile robot platform 400 performs large-scale crack scanning, and the articulated robotic arm 600 and the multi-functional repair tool head 700 perform crack cleaning, grouting, and compaction operations on the cracks. The mobile robot platform 400 includes: a biomimetic multi-legged mobile chassis 405, whose legs are integrated with adsorption mechanisms 406, which can adaptively adjust according to the tilt angle of the dam body 200; a robot controller 402 mounted on the biomimetic multi-legged mobile chassis 405 for controlling movement and adsorption; a posture sensing module for real-time monitoring of the attitude and position of the mobile robot platform 400; a main moving end 407, which is rotatably connected to the biomimetic multi-legged mobile chassis 405 and hinged to the robot controller 402; a single driver 403 mounted on the top of the main moving end 407; a flexible hinge 404 mounted on the bottom of the main moving end 407; the output end of the single driver 403 is connected to the flexible hinge 404 and connected to the biomimetic multi-legged mobile chassis 405; and a drive universal structure 401 mounted on the side of the robot controller 402 (to transmit power and control signals to each leg). The mobile robot platform 400 has buffer grooves 408 on both sides of its surface. Electromagnetic sliding irons 409 are slidably connected inside the buffer grooves 408. Flexible connecting multi-directional joints 410 are mounted on the side ends of the electromagnetic sliding irons 409. Multi-axis bionic feet are mounted on the side ends of the flexible connecting multi-directional joints 410, and the bottom ends of the multi-axis bionic feet are connected to a drive universal structure 401. First, the operator fixes the walking guide rail 300 to one or both sides of the dam body 200 to be repaired and installs the ground base station 100 on the walking guide rail 300. Then, the mobile robot platform 400 is placed on the dam surface and the lightweight flexible pipeline 500 is connected. After startup, the main controller 130 of the ground base station 100 establishes communication with the robot controller 402 of the mobile robot platform 400. The mobile robot platform 400 then begins to autonomously crawl along the dam surface. During this process, non-contact sensors (such as laser scanners) integrated into the machine body perform rapid and wide-area scanning of the dam surface, creating a three-dimensional digital model of the dam body 200, and automatically identifying and locating all suspected cracks, generating a crack map and transmitting it back to the main controller 130.This achieves automation and digitization of the detection process, far exceeding the efficiency of manual operations. In this process, the mobile platform does not rely on guide rails throughout, and its scanning coverage is wider and without blind spots. Then, after obtaining a preliminary crack map, the mobile robot platform 400 autonomously navigates to the vicinity of the first suspected crack. Subsequently, the robot controls the individual legs of the bionic multi-legged mobile chassis 405, activating its adsorption mechanism 406 (which can employ negative pressure adsorption or magnetic adsorption; in the case of negative pressure adsorption, the negative pressure structure consists of a multi-chamber sealing skirt, a micro vacuum generator, a vacuum sensor, and a central adsorption controller; the multi-chamber sealing skirt is the component in direct contact with the dam surface. It is made of highly elastic, wear-resistant rubber or polyurethane material, and its bottom is divided into multiple (e.g., 4 or 6) independent sealing chambers. Each chamber is an independent negative pressure unit. A micro vacuum generator 4062 corresponds to each sealing chamber; a vacuum generator based on the Venturi principle or a micro turbine fan is integrated within the mobile robot platform 400. Its advantages are small size, fast response, and no oil contamination. A high-precision vacuum sensor is installed in each independent sealing chamber to monitor the negative pressure value within that chamber in real time. The central adsorption controller 4064 is a dedicated subsystem of the robot controller 402. It is responsible for processing data from all vacuum sensors and uniformly controlling the start and stop of each micro vacuum generator. For example, it is firmly locked onto the dam surface to ensure absolute stability of the machine body. The bionic multi-legged mobile chassis 405 and its adsorption mechanism 406 can be individually tilted according to the surface slope of the dam body 200. For example, during magnetic adsorption, the magnetic adsorption structure consists of an electrically controlled permanent magnet matrix, a magnetic flux sensor, and a magnetic adsorption controller. The electrically controlled permanent magnet matrix is ​​the core of magnetic adsorption. The electrically controlled permanent magnet matrix is ​​composed of multiple (e.g., 3x3 or 4x4 arrays) independent electrically controlled permanent magnet units. Each unit's core is a neodymium iron boron permanent magnet surrounded by an excitation coil. Magnetic flux sensors are distributed at multiple points on the electrically controlled permanent magnet matrix to sense the magnetic induction intensity between the matrix and the dam surface in real time. The magnetic adsorption controller, as another dedicated subsystem of the robot controller 402, is responsible for controlling the magnetization and demagnetization of the electrically controlled permanent magnet matrix and processing the signals from the magnetic flux sensor, thus forming a bionic control system similar to that of an antelope. Next, the articulated robotic arm 600 begins operation, precisely aligning the precision measuring probe (such as a line laser scanner or probe) at the end of the multi-functional repair tool head 700 with the crack. The articulated robotic arm 600 drives the probe to slowly move along the crack trajectory, acquiring precise micro-geometric parameters such as the crack's width, depth, and orientation, and planning the optimal repair path. The combination of coarse positioning by the moving platform and fine positioning by the robotic arm solves the problem of low detection accuracy of mobile equipment. Acquiring accurate data before operation lays a solid foundation for subsequent precise repair. After the repair planning is completed, the robot controller 402 controls the multi-functional repair tool head 700 to switch to crack cleaning mode.The high-speed rotating cleaning head 707 in the multi-functional repair tool head 700 precisely removes debris, dust, and loose concrete from the cracks along a planned path. After cleaning, the multi-functional repair tool head 700 automatically switches to grouting mode. The grout storage and pumping unit 110 in the ground base station 100 is activated, and the repair grout is transported to the grouting head 704 of the multi-functional repair tool head 700 through a lightweight flexible pipeline 500. Under the control of the articulated robotic arm 600, the grouting head 704 injects the grout deep into the crack at a constant pressure and speed. After grouting, the compaction and smoothing mode is activated, using the compaction plate 803 to compact and smooth the grout overflowing from the crack, making it flush with the original dam surface. The entire process of cleaning, grouting, and compaction is completed automatically and continuously by one piece of equipment, with a smooth flow and extremely high efficiency. Furthermore, based on the precise measurements of the previous stage, the amount of grout can be controlled, avoiding material waste and ensuring dense filling. Simultaneously, the automated process overcomes factors such as human fatigue and experience differences, ensuring consistent and reliable repair quality for each crack. Next, after repairing one crack, the multi-functional repair tool head 700 can switch back to detection mode to quickly scan the repaired area and preliminarily assess the repair effect. The assessment data is recorded and archived. Subsequently, the foot adsorption mechanism 406 of the mobile robot platform 400 is unlocked, and according to the instructions of the main controller 130, it autonomously navigates to the next crack work point. During this movement, its adaptive center of gravity adjustment system continues to operate: the pose perception module monitors the tilt state of the robot body in real time, and the robot controller 402 adjusts the center of gravity in real time by controlling the position of the electromagnetic sliding iron 409 in the buffer groove 408 (e.g., if the mobile robot platform 400 tends to roll to the right (lower position), the robot controller 402 will command the left electromagnetic sliding iron 409 to move downwards, while the right electromagnetic sliding iron 409 also moves upwards, adjusting the overall weight on both sides to the left (higher position). Figure 1As shown, by shifting the center of gravity upwards on the slope (generating a torque to resist downward roll), and combined with the flexible gait of the multi-axis bionic legs, the robot ensures dynamic stability and safety when moving on the slope, preventing slippage or overturning. This achieves a closed loop of repair and inspection, guaranteeing the final result. It highlights the robot's superior mobility and stability on complex dam surfaces, completely eliminating the safety risks of high-altitude operations. After all planned cracks are repaired, the mobile robot platform 400 returns to its initial position. Operators can download a complete repair report, including data comparisons before and after repairing each crack. The entire system is easy to disassemble and can be quickly transferred to the next work surface. Furthermore, the distributed design of the ground base station 100 and the mobile robot platform 400 resolves the contradiction between equipment weight and mobility. The bionic multi-legged mobile chassis 405, buffer chutes 408, and electromagnetic sliding irons 409 solve the problem of stable movement and operation on steep dam surfaces. The collaboration between the articulated robotic arm 600 and the multi-functional repair tool head 700 achieves standardization, precision, and automation of the repair process. Ultimately, a safe, efficient, high-quality, and widely adaptable method for repairing dam cracks and preventing seepage was achieved.

[0020] Preferably, according to Figure 5As shown, the lightweight flexible conduit 500 is a composite cable structure, comprising, from the inside out: a slurry delivery inner tube 510 (made of corrosion-resistant and wear-resistant polymer materials (such as ultra-high molecular weight polyethylene), with a smooth inner wall, specifically designed for delivering the main slurry required for crack repair. It possesses excellent flexibility and can bend as the mobile robot platform 400 moves) and a waterproof adhesive tube 540 (an independent microtube embedded in the wall of the slurry delivery inner tube 510) that travels along the inner wall of the slurry delivery inner tube 510. The waterproof adhesive tube 540 is used to deliver fast-setting waterproof sealant, and its outlet is located at the multi-functional repair tool head 700, adjacent to but independent of the grouting head 704), used for separately delivering the slurry and waterproof sealant; and power conductors 520 and data optical fibers 530 (uniformly distributed and wrapped) surrounding the slurry delivery inner tube 510. The power conductors 520 are responsible for connecting the ground... The power generated by base station 100 is safely transmitted to mobile robot platform 400, providing power for all its movements. Data fiber optic cable 530 is responsible for high-speed, interference-resistant signal transmission between base station main controller 130 and robot controller 402, including transmission of control commands, sensor data, and high-definition video streams; tensile braided layer 550, made of high-performance fiber (wrapped around all the above-mentioned inner cores, woven from Kevlar or high-strength Dyneema fiber, responsible for bearing all the tension generated by the entire pipeline during suspension and dragging, preventing damage to the internal structure); abrasion-resistant protective outer layer 560 (made of abrasion-resistant rubber or modified polyurethane material. Its surface has annular corrugations to further enhance the pipeline's flexibility and resistance to crushing. This layer is responsible for resisting friction from dam surface concrete, ultraviolet radiation, and the effects of harsh weather). The operator fixes the ground base station 100 to the walking rail 300 and connects the end of the lightweight flexible pipeline 500 coiled on the base station reel to the interface on the back of the mobile robot platform 400 via its dedicated quick-connect plug. This connection action seamlessly integrates the three major channels: grout, power, and data. Deployment is extremely convenient. It avoids the cumbersome process of separately laying grout pipes, power cables, and communication lines required in traditional operations, significantly shortening preparation time and reducing the risk of cable entanglement. Next, once the mobile robot platform 400 crawls across the dam surface and locates the crack, the entire repair operation officially begins. During crack clearing, the mobile robot platform 400 receives continuous power through the power conductor 520. During grouting, the grout storage and pumping unit 110 of the ground base station 100 is activated, and the main repair grout is precisely delivered to the multi-functional repair tool head 700 through the grout delivery inner pipe 510. Simultaneously, waterproof adhesive, which requires simultaneous edge sealing, is delivered through the waterproof adhesive tube 540. Operational footage captured by the robot's camera and sensor data are transmitted back to the operator in real-time and without loss via the data fiber optic cable 530. During pressure testing, the force control data of the mobile robot platform 400 is also fed back through this channel.This system achieves synchronous, independent, and precise delivery of the main grout and waterproofing adhesive, meeting the needs of complex repair processes, avoiding secondary construction, and improving repair efficiency and sealing effect. Parallel power and data transmission ensures that the mobile robot platform 400 maintains high-speed communication with the control terminal even when performing energy-intensive operations (such as grouting pumps and robotic arm movements), enabling true real-time monitoring and intervention. Subsequently, as the mobile robot platform 400 moves from one work point to another, the automatic deployment and retraction mechanism 150 on the ground base station 100 automatically deploys and retracts the lightweight flexible pipeline 500 according to the mobile robot platform 400's speed and distance, maintaining it in an ideal state that is neither subjected to excessive drag nor has excessive excess capacity. The tensile braided layer 550 ensures that even if the pipeline is slightly dragged on the dam surface, the internal structure remains intact. The wear-resistant protective outer layer 560 protects the pipeline from damage caused by friction on the dam surface. The tensile braided layer 550 gives the entire cable extremely high tensile strength, making it a safety rope for the mobile robot platform 400 and providing fall protection even in extreme conditions. The automatic retraction mechanism 150, combined with the cable's flexible design, completely avoids the risks of cable tangling, knotting, or being crushed by the robot itself, ensuring autonomous movement. Furthermore, throughout the entire operation, regardless of sun exposure, rain, or contact with damp dam surfaces, the abrasion-resistant outer layer 560 and the stability of the internal materials ensure that the cable's function does not degrade. Its composite structure itself also possesses excellent resistance to torsion and bending fatigue. This design significantly improves the reliability and durability of the entire system in harsh engineering environments, reduces downtime due to pipeline failures, and lowers maintenance and life-cycle costs. Finally, after the operation is completed, the operator only needs to issue a command, and the automatic retraction mechanism 150 can quickly and neatly retrieve the lightweight flexible pipeline 500 onto the reel. Its lightweight nature makes handling and transfer easy.

[0021] More preferably, according to Figure 6As shown, the multi-functional repair tool head 700 includes a grooving frame 701. A drive torque motor 702 (with an output shaft capable of precise 180-degree rotation in both directions) is rotatably connected to the front end of the grooving frame 701. A dual-tool head connector 703 is connected to the output end of the drive torque motor 702. A grouting head 704 and a cleaning head 707 are respectively connected to the two ends of the dual-tool head connector 703 (when the drive torque motor 702 rotates, it can drive the entire dual-tool head connector 703 to rotate, thereby precisely switching the grouting head 704 or the cleaning head 707 to the working position). A servo rotation structure 705 is installed on the front exterior of the grouting head 704 (allowing the spray angle of the waterproof adhesive injection head 706 to be adjusted independently of the grouting head 704). The waterproof adhesive injection head 706 is rotatably connected inside the servo rotation structure 705. The pipes of the waterproof adhesive injection head 706 and the grouting head 704 are not connected. The external connection of the slotting frame 701 is an injection valve 709 (which controls the on / off of the main slurry). The side end of the injection valve 709 is connected to an injection pump box. The side end of the injection pump box is connected to a slurry mixing section (used to perform secondary mixing of the slurry during transportation to prevent sedimentation). The slurry mixing section is installed on the top of the mobile robot platform 400. The side end of the slurry mixing section is connected to a guide separation chamber (which serves as a cable interface and connects to the lightweight flexible pipeline 500. It has a diversion channel inside, which guides the main slurry and waterproof adhesive from the pipeline to the injection pump box and the guide pipe 708, respectively). The guide separation chamber is connected to the lightweight flexible pipeline 500. The side end of the waterproof adhesive injection head 706 is connected to a waterproof adhesive injection end. The side end of the waterproof adhesive injection end is connected to the guide pipe 708. The side end of the guide pipe 708 is connected to the guide separation chamber. The mobile robot platform 400 achieves regional-level coarse positioning on the surface of the dam body 200, while the articulated robotic arm 600 achieves millimeter-level fine positioning within the region. A micro-motion platform, located between the articulated robotic arm 600 and the multi-functional repair tool head 700, is used for sub-millimeter-level micro-positioning. The micro-motion platform is a piezoelectric ceramic driven platform, and a six-dimensional force sensor is installed between the micro-motion platform and the multi-functional repair tool head 700. The output signal of the six-dimensional force sensor is used for closed-loop control of the micro-motion platform's movement to maintain a constant working contact force. During the movement of the mobile robot platform 400, a non-contact scanner is used to quickly survey the dam surface and generate a crack map. After the mobile robot platform 400 comes to rest and is locked in place, the articulated robotic arm 600 and the multi-functional repair tool head 700 are controlled to perform precise measurement and repair work on the cracks based on the crack map. First, as mentioned above, after forming a high-precision crack map, when the mobile robot platform 400 moves to the vicinity of the first crack to be repaired, the adsorption mechanism 406 of the biomimetic multi-legged mobile chassis 405 is activated, firmly fixing the body to the dam surface. Subsequently, the articulated robotic arm 600 moves the multi-functional repair tool head 700 directly above the crack initiation point according to the coordinates of the crack map, completing millimeter-level precision positioning.Simultaneously, the lightweight flexible pipeline 500 begins to deliver the main slurry and waterproof adhesive from the ground base station 100 to the robot's slurry mixing unit and guide pipe 708. Then, the drive torque motor 702 starts, rotating the dual-tool head connector 703 to switch the cleaning head 707 to the working position. The robotic arm controls the cleaning head 707 to move along the crack trajectory, using a high-speed rotating brush head to thoroughly remove dust, debris, and loose concrete from the crack. After cleaning, the drive torque motor 702 rotates again, switching the grouting head 704 to the working position. As the grouting head 704 is in place, the servo rotation structure 705 pre-adjusts the angle of the waterproof adhesive injection head 706, aligning it with the crack edge. The waterproof adhesive injection end opens, pre-sealing both sides of the crack before grouting to prevent slurry from overflowing from the crack edge during subsequent grouting. This creates a seamless connection between the cleaning, pre-sealing, and grouting processes, resulting in extremely high efficiency. The ability to pre-seal the crack edges with waterproof adhesive is an innovative design that ensures the main grout is fully injected deep into the crack, rather than leaking out from the edges, greatly improving the density of the filling and the quality of the repair. Next, the injection valve 709 opens, and the main grout is injected evenly from the injection head 704 under pressure into the cleaned and pre-sealed crack.

[0022] During this process, a six-dimensional force sensor monitors the contact force between the tool head and the dam surface in real time. This signal forms a closed-loop feedback, controlling the piezoelectric ceramic micro-motion platform to perform sub-millimeter-level micro-manipulation in real time, dynamically compensating for residual vibrations of the articulated robotic arm 600 and the multi-axis bionic foot, or unevenness of the dam surface, maintaining a constant contact force. This not only ensures the sealing of the grouting nozzle and the crack, but also avoids excessive compression or damage to the dam surface by the multi-functional repair tool head 700. After grouting, the multi-functional repair tool head 700 can be used as a whole to smooth and initially compact the filled crack surface under constant force control. The whole system forms a three-level precision assurance system. In particular, with the collaboration of the micro-motion platform and the six-dimensional force sensor, it achieves high-precision and high-stability operations comparable to those on a fixed base on the mobile robot platform 400. Moreover, constant force control ensures that the repair process parameters of each crack are consistent, fundamentally solving the problem of large quality fluctuations in manual operation. After completing the repair of one crack, the multi-functional repair tool head 700 can switch back to detection mode to quickly scan the repaired area and compare the data with that before the repair to preliminarily assess the repair effect. Once the assessment is satisfactory, the mobile robot platform 400 is released from its attachment and automatically moves to the next crack work site to begin a new work cycle.

[0023] More specifically, according to Figure 2 , Figure 7 and Figure 8As shown, the ground base station 100 also includes a temperature control unit 140 (connected to the slurry storage unit. Internally, it contains a semiconductor cooling chip, a heating unit, and a temperature sensor, forming an intelligent temperature control system used to heat or cool the slurry to the optimal construction temperature range before delivery, ensuring the slurry's fluidity and curing performance) and an automatic deployment and retraction mechanism 150 mounted on the side frame of the ground base station 100. The top of the temperature control unit 140 is covered with an angle-adjustable photovoltaic structure (a programmable servo-driven bracket capable of single-axis or dual-axis angle adjustment to maximize solar energy collection for the entire system, especially...). A temperature control system (providing auxiliary green energy) is used to automatically extend and retract the lightweight flexible pipe 500 to maintain constant tension when the mobile robot platform 400 moves. An extension and retraction adjustment section 160 is installed at the bottom of the automatic extension and retraction mechanism 150, and a rope connection drive end 170 is installed at the bottom of the extension and retraction adjustment section 160. A material feeding hose 180 is connected to the side end of the temperature control and conveying section 140. The drive end 170 and the material feeding hose 180 are connected, and the material feeding hose 180 is connected to the lightweight flexible pipe 500. The drive end 170 is used to drive the lightweight flexible pipe 500 to adjust according to the movement of the mobile robot platform 400. A compaction section 800 is provided on the bottom surface of the mobile robot platform 400. The compaction section 800 includes an electrically operated universal structure 801 installed at the bottom of the mobile robot platform 400. An electric guide rod 802 is connected to the bottom of the electrically operated universal structure 801, and a compaction plate 803 is connected to the bottom of the electric guide rod 802. The grouting head 704, cleaning head 707, waterproof adhesive injection head 706, and compaction plate 803 are configured to be selectively activated by a PLC controller or robot controller 402. The mobile robot platform 400 has a built-in self-diagnostic module and a function reconfiguration module for real-time judgment of the grouting head 704, cleaning head 707, waterproof adhesive injection head 706, and compaction plate 803 based on sensor data. The function reconfiguration module is used to perform predetermined degradation operations when any structure fails. These degradation operations include: initiating a high-pressure flushing process when the grouting head 704 is blocked; and controlling the mobile robot platform 400 to press down and compact the repair material when the compaction plate 803 fails. After the operator positions the ground base station 100, its top photovoltaic structure automatically adjusts its angle to align with the sun based on built-in light sensor data and begins collecting electrical energy. Simultaneously, the temperature control unit 140 is activated to preheat or cool the repair material in the grout bin, ensuring it is in optimal working condition. The automatic deployment mechanism 150 is in standby mode, ready to release the lightweight flexible conduit 500. The photovoltaic structure's angle adaptive adjustment maximizes energy harvesting, embodying the system's green and energy-saving concept. The temperature control unit 140 ensures the performance stability of the core repair material (slurry) from the source, which is the first crucial step in ensuring the final repair quality, overcoming the adverse effects of ambient temperature on material performance.Next, the mobile robot platform 400 begins scanning and operations away from the base station. During this time, the automatic deployment and retraction mechanism 150 continues to operate, enabling the robot controller 402 to share its movement speed and direction data in real time with the main controller 130 of the ground base station 100. Based on this data, the main controller 130 directs the servo motor of the deployment and retraction adjustment unit 160 to operate, synchronously deploying and retracting the lightweight flexible pipeline 500 via the rope connection drive end 170. Throughout the process, the pipeline maintains a constant, slight tension, avoiding dragging or tangling due to excessive looseness, and preventing the robot from being pulled and affecting its stability due to excessive tightness. Afterward, when the mobile robot platform 400 completes the cleaning, grouting, and preliminary smoothing of a crack using the multi-functional repair tool head 700, if the crack area is large or requires higher compaction, the compaction unit 800 will be activated, causing the electric guide rod 802 to extend downward and push the compaction plate 803 to contact the dam surface. The electric universal structure 801 automatically adjusts the angle to ensure that the compaction plate 803 is fully in contact with the dam surface. Subsequently, the mobile robot platform 400 releases part or all of its adsorption mechanism 406, utilizing part or all of its own weight to powerfully and extensively compact the repair area via the compaction plate 803. This allows the multi-functional repair tool head 700 to precisely compact the crack trajectory, while the compaction section 800 of the main body handles the overall large-area compaction of the repair area. The two work together to ensure the integrity and high density of the repaired structure and the dam surface. After all cracks are repaired, the mobile robot platform 400 returns to the base station. The automatic retraction mechanism 150 neatly retracts and winds up the lightweight flexible pipeline 500. Operators can view a complete report generated by the system, containing repair data and any fault records.

[0024] The wiring diagrams of the six-dimensional force sensor, non-contact scanner, self-diagnostic module, and function reconfiguration module in this invention are common knowledge in the field, and their working principles are known technologies. The appropriate model is selected according to actual use. Therefore, the control methods and wiring layouts of the six-dimensional force sensor, non-contact scanner, self-diagnostic module, and function reconfiguration module will not be explained in detail.

[0025] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for repairing cracks in the dam body of a hydropower station, characterized in that, include: The dam body (200) has a walking guide rail (300) installed on its surface; The ground base station (100) includes a slurry storage and pumping unit (110), an energy unit (120) and a main controller (130), wherein the ground base station (100) forms a reciprocating sliding connection on the walking guide rail (300); A mobile robot platform (400) is used for autonomous movement on the surface of the dam body (200); A lightweight, flexible pipeline (500) connecting a ground base station (100) and the mobile robot platform (400) is used to transport slurry, electricity, and data between the two. The mobile robot platform (400) is equipped with an articulated robotic arm (600) and a multi-functional repair tool head (700) integrated at the end of the articulated robotic arm (600). The mobile robot platform (400) performs large-scale crack scanning, and the articulated robotic arm (600) and the multi-functional repair tool head (700) perform crack cleaning, grouting and compaction operations on the cracks.

2. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 1, characterized in that: The mobile robot platform (400) includes: A biomimetic multi-legged mobile chassis (405) has an adsorption mechanism (406) integrated at the end of its legs, which can adaptively adjust according to the tilt angle of the dam body (200). A robot controller (402) mounted on the bionic multi-legged mobile chassis (405) is used to control movement and adsorption. The pose perception module is used to monitor the pose and position of the mobile robot platform (400) in real time; The main moving end (407) is rotatably connected to the bionic multi-legged mobile chassis (405) and hinged to the robot controller (402). A single driver (403) is installed on the top of the main moving end (407), and a flexible hinge (404) is installed on the bottom of the main moving end (407). The output end of the single driver (403) is connected to the flexible hinge (404) and connected to the bionic multi-legged mobile chassis (405). A drive universal structure (401) is installed on the side of the robot controller (402).

3. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 1, characterized in that: The mobile robot platform (400) has buffer grooves (408) on both sides. An electromagnetic sliding iron (409) is slidably connected inside the buffer groove (408). A flexible connecting multi-directional joint (410) is installed on the side end of the electromagnetic sliding iron (409). A multi-axis bionic foot is installed on the side end of the flexible connecting multi-directional joint (410). The bottom end of the multi-axis bionic foot is connected to the driving universal structure (401).

4. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 1, characterized in that: The lightweight flexible conduit (500) is a composite cable structure, comprising, from the inside out: The slurry conveying inner tube (510) and the waterproof rubber tube (540) that runs along the inner wall of the slurry conveying inner tube (510) are used to convey slurry and waterproof rubber respectively; Power conductors (520) and data optical fibers (530) surround the slurry delivery inner tube (510). The tensile braided layer (550) is made of high-performance fiber; Abrasion-resistant protective outer layer (560).

5. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 4, characterized in that: The multifunctional repair tool head (700) includes a grooving frame (701), a drive torque motor (702) is rotatably connected to the front end of the grooving frame (701), a double tool head connector (703) is connected to the output end of the drive torque motor (702), a grouting head (704) and a cleaning head (707) are respectively connected to the two ends of the double tool head connector (703), a servo rotation structure (705) is installed on the front exterior of the grouting head (704), a waterproof adhesive injection head (706) is rotatably connected inside the servo rotation structure (705), and the pipes of the waterproof adhesive injection head (706) and the grouting head (704) are not connected.

6. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 5, characterized in that: The slotting frame (701) is externally connected to an injection valve (709), the side end of the injection valve (709) is connected to an injection pump box, the side end of the injection pump box is connected to a slurry mixing unit, the slurry mixing unit is installed on the top of the mobile robot platform (400), the side end of the slurry mixing unit is connected to a material guiding and separating chamber, the material guiding and separating chamber is connected to a lightweight flexible pipeline (500), the side end of the waterproof adhesive injection head (706) is connected to a waterproof adhesive injection end, the side end of the waterproof adhesive injection end is connected to a material guiding pipe (708), and the side end of the material guiding pipe (708) is connected to the material guiding and separating chamber.

7. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 6, characterized in that: The mobile robot platform (400) achieves regional coarse positioning on the surface of the dam body (200), and the articulated robotic arm (600) achieves millimeter-level fine positioning within the region. A micro-motion platform is set between the articulated robotic arm (600) and the multi-functional repair tool head (700) to achieve sub-millimeter-level micro-positioning. The micro-motion platform is a piezoelectric ceramic drive platform, and a six-dimensional force sensor is set between the micro-motion platform and the multi-functional repair tool head (700). The output signal of the six-dimensional force sensor is used for closed-loop control of the micro-motion platform to maintain a constant working contact force. During the movement of the mobile robot platform (400), a non-contact scanner is used to quickly survey the dam surface and generate a crack map. After the mobile robot platform (400) stops and is locked in place, the articulated robotic arm (600) and the multi-functional repair tool head (700) are controlled to perform precise measurement and repair of cracks based on the crack map.

8. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 1, characterized in that: The ground base station (100) also includes a temperature control and conveying unit (140) and an automatic retraction and extension mechanism (150) installed on the side frame of the ground base station (100). The top of the temperature control and conveying unit (140) is covered with an angle-adjustable photovoltaic structure, which is used to automatically retract and extend the lightweight flexible pipeline (500) to maintain constant tension when the mobile robot platform (400) moves. The bottom of the automatic retraction and extension mechanism (150) is equipped with a retraction and extension adjustment unit (160). The bottom of the retraction adjustment unit (160) is provided with a rope connection drive end (170), and the side end of the conveying temperature control unit (140) is connected to a conveying hose (180). The connection drive end (170) and the conveying hose (180) are connected. The conveying hose (180) is connected to a lightweight flexible pipeline (500). The connection drive end (170) is used to drive the lightweight flexible pipeline (500) to adjust according to the movement of the mobile robot platform (400).

9. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 8, characterized in that: The bottom surface of the mobile robot platform (400) is provided with a compaction part (800). The compaction part (800) includes an electric universal structure (801) installed at the bottom of the mobile robot platform (400). The bottom of the electric universal structure (801) is connected to an electric guide rod (802), and the bottom of the electric guide rod (802) is connected to a compaction plate (803).

10. The seepage prevention and repair device for dam cracks in hydropower station construction according to claim 5, characterized in that: The grouting head (704), cleaning head (707), waterproof adhesive injection head (706), and compaction plate (803) are configured to be selectively activated by a PLC controller or robot controller (402). The mobile robot platform (400) has a built-in self-diagnosis module and a function reconfiguration module for real-time judgment of the grouting head (704), cleaning head (707), waterproof adhesive injection head (706), and compaction plate (803) based on sensor data. The function reconfiguration module is used to perform a predetermined degradation operation when any structure fails. The degradation operation includes: starting a high-pressure flushing process when the grouting head (704) is blocked, and controlling the body of the mobile robot platform (400) to press down to compact the repair material when the compaction plate (803) fails.

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