Ultrasonic detection device for dam leakage point positioning

Abstract

The invention relates to an ultrasonic detection device for dam leakage point positioning, and belongs to the technical field of navigation equipment. The tail of a mobile carrier platform is provided with double propulsion motors to drive the device to move; the double-frequency ultrasonic array probe module is mounted at the bottom of the mobile carrier platform; the dynamic coordinate calibration navigation unit is fixed at the front end of the top of the mobile carrier platform and is used for acquiring carrier position information in real time, dynamically calibrating the position information of the mobile carrier platform and transmitting position data to the dual-frequency ultrasonic array probe module to drive the dual-frequency ultrasonic array probe module to adjust the attitude of the dual-frequency ultrasonic array probe module; the multi-source data fusion processing module is mounted in the middle layer in the carrier platform; the pressure adjusting assembly is nested in the outer layer of the shell of the double-frequency ultrasonic array probe module, and the pressure adjusting assembly adjusts the air pressure in the sealed air cavity according to the water depth so as to adapt to the acoustic impedance. The technical problems that in the prior art, carrier navigation equipment and a detection module work independently, the leakage point position matching deviation is large, and a detection blind area exists are solved.

Description

Technical Field

[0001] This invention belongs to the field of navigation equipment technology, and specifically relates to an ultrasonic detection device for locating seepage points in dams. Background Technology

[0002] In the field of dam seepage detection, detection schemes based on mobile watercraft have gradually replaced traditional shore-based and underwater manual detection methods due to their ability to cover large areas of water and reduce human risks. The core of this type of scheme lies in the coordination between navigation equipment and its deployment with the detection module—the navigation equipment needs to provide the precise location of the vehicle in real time, its installation and deployment need to be adapted to the vehicle's movement characteristics, and it needs to work in conjunction with the detection module to ensure that the detection data and location information are accurately matched in order to achieve accurate marking of seepage points.

[0003] The existing technology has at least the following problems in its use:

[0004] The existing carrier navigation equipment and detection module work independently, the location data and detection data are not synchronized, and the navigation and probe attitude adjustment are not linked, resulting in large deviations in the location matching of the leakage point and the existence of detection blind spots. Summary of the Invention

[0005] This invention provides an ultrasonic detection device for locating seepage points in dams, which solves the technical problems in the prior art where the existing carrier navigation equipment and detection module work independently, the position data and detection data are not synchronized, and the navigation and probe attitude adjustment are not linked, resulting in large deviations in the matching of seepage point positions and the existence of detection blind zones.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] An ultrasonic detection device for locating seepage points in a dam includes: a mobile carrier platform with dual propulsion motors at its tail to drive the device's movement; a dual-frequency ultrasonic array probe module installed at the bottom of the mobile carrier platform; a dynamic coordinate calibration and navigation unit fixed to the top front end of the mobile carrier platform, directly connected to the dual-frequency ultrasonic array probe module via an anti-interference data bus, capable of acquiring carrier position information in real time and dynamically calibrating the position information of the mobile carrier platform, and transmitting position data to the dual-frequency ultrasonic array probe module to drive its attitude adjustment; a multi-source data fusion processing module installed in the middle layer inside the carrier platform, connected to the dual-frequency ultrasonic array probe module and the dynamic coordinate calibration and navigation unit; and a pressure regulating component nested in the outer shell of the dual-frequency ultrasonic array probe module, electrically connected to the probe module, and adjusting the air pressure inside the sealed air chamber according to the water depth to adapt to the acoustic impedance.

[0008] Furthermore, the dual-frequency ultrasonic array probe module is connected to the main body of the mobile carrier platform via an elastic shock-absorbing bracket. An electric gimbal is nested at the bottom of the elastic shock-absorbing bracket. The electric gimbal receives the drive signal from the dual-frequency ultrasonic array probe module and drives the dual-frequency ultrasonic array probe module to perform pitch and horizontal attitude adjustments.

[0009] Furthermore, the pressure regulating component includes a pressure sensor and an air valve. The pressure sensor is electrically connected to the dual-frequency ultrasonic array probe module. The air valve is connected to the sealed air chamber through an air pipe. After the pressure sensor monitors the pressure signal corresponding to the water depth, the air valve adjusts the air pressure in the sealed air chamber according to the signal.

[0010] Furthermore, the dynamic coordinate calibration navigation unit also includes an inertial measurement unit and a wireless data transmission module. The inertial measurement unit is used to assist in correcting the position deviation of the mobile carrier platform during movement. The wireless data transmission module is installed at the top rear end of the mobile carrier platform and is connected to the multi-source data fusion processing module to transmit the information processed by the multi-source data fusion processing module. The anti-interference data bus stably transmits the position data of the mobile carrier platform to the dual-frequency ultrasonic array probe module.

[0011] Furthermore, the sealed air chamber of the pressure regulating component forms a closed space with the outer shell of the dual-frequency ultrasonic array probe module. The inner wall of the sealed air chamber is equipped with a pressure feedback component, which is connected to the pressure sensor to provide real-time feedback of the air pressure within the chamber to the pressure sensor. The electric gimbal is equipped with a drive motor, which is electrically connected to the dual-frequency ultrasonic array probe module. After receiving a drive signal, the drive motor drives the dual-frequency ultrasonic array probe module to adjust its pitch and horizontal deflection angles. The dual-frequency ultrasonic array probe module contains a signal switching component, which is connected to the dynamic coordinate calibration and navigation unit. This component switches the type of ultrasonic detection signal based on the position data of the mobile carrier platform. The multi-source data fusion processing module has a signal integration component, which is connected to the signal processing component, the global positioning module of the dynamic coordinate calibration and navigation unit, and the water pressure sensor, respectively, to correlate and integrate the ultrasonic signal, position data, and water pressure data.

[0012] Furthermore, the mobile carrier platform is integrally molded from high-strength plastic. A protective cabin is located on the top of the platform, covering the outside of the dynamic coordinate calibration and navigation unit to protect it from external environmental influences. A flow-guiding structure is located at the bottom of the platform, arranged along its length to reduce water flow resistance during movement. The platform also includes a remote control terminal, wirelessly connected to the wireless data transmission module. This terminal receives information transmitted by the wireless data transmission module and sends control commands to it. The remote control terminal also includes a display component connected to the wireless data transmission module, which displays the detection information of the dual-frequency ultrasonic array probe module and the position information of the mobile carrier platform in real time.

[0013] Furthermore, the dual-frequency ultrasonic array probe module includes a high-frequency detection component and a low-frequency detection component, both of which are connected to the signal switching component. The signal switching component selects to activate either the high-frequency or low-frequency detection component based on location data. The dynamic coordinate calibration navigation unit also includes a map matching component connected to the shoreline matching sensor. This map matching component, combined with a preset electronic map of the dam, further calibrates the position of the mobile platform. A power supply system is also included, with its battery assembly installed in a battery compartment at the bottom of the mobile platform. The battery compartment has a sealed structure to prevent water ingress. The remote control terminal includes a data storage component connected to the display component, which stores the detection data from the dual-frequency ultrasonic array probe module and the operational data of the mobile platform, and supports data export.

[0014] This invention provides an ultrasonic detection device for locating seepage points in dams, with the following advantages:

[0015] By combining dual-frequency ultrasonic detection with dynamic navigation calibration, precise location of seepage points in the dam was achieved; closed-loop control of the pressure regulation component ensured stable transmission of detection signals at different water depths; multi-source data fusion processing effectively distinguished between seepage and interference signals; and remote control and data storage capabilities enabled unmanned operation and data traceability, significantly improving detection efficiency and accuracy while reducing human risks and costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an ultrasonic detection device for locating seepage points in a dam, provided in an embodiment of the present invention.

[0018] Figure 2 This is a side view of an ultrasonic detection device for locating seepage points in a dam, excluding the support frame, provided in an embodiment of the present invention.

[0019] In the diagram: 10 - Mobile carrier platform; 20 - Dual-frequency ultrasonic array probe module; 30 - Dynamic coordinate calibration and navigation unit; 40 - Multi-source data fusion processing module; 50 - Pressure regulation component; 60 - Elastic shock absorption bracket; 70 - Inertial measurement component; 80 - Wireless data transmission module. Detailed Implementation

[0020] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0021] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to welding, bolting, or riveting; they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] Example:

[0025] like Figure 1 and Figure 2As shown, this embodiment provides an ultrasonic detection device for locating seepage points in a dam, comprising: a mobile carrier platform 10 with dual propulsion motors installed at its tail to drive the device's movement; a dual-frequency ultrasonic array probe module 20 installed at the bottom of the mobile carrier platform 10; a dynamic coordinate calibration and navigation unit 30 fixed to the top front end of the mobile carrier platform 10, directly connected to the dual-frequency ultrasonic array probe module 20 via an anti-interference data bus, capable of acquiring carrier position information in real time and dynamically calibrating the position information of the mobile carrier platform 10, and transmitting position data to the dual-frequency ultrasonic array probe module 20 to drive its attitude adjustment; a multi-source data fusion processing module 40 installed in the middle layer inside the carrier platform, connected to the dual-frequency ultrasonic array probe module 20 and the dynamic coordinate calibration and navigation unit 30; and a pressure regulating component 50 nested in the outer shell of the dual-frequency ultrasonic array probe module 20, electrically connected to the probe module, and adjusting the air pressure inside the sealed air chamber according to the water depth to adapt to the acoustic impedance. In this embodiment, the mobile carrier platform 10 is integrally molded from high-strength polyethylene plastic, with a streamlined structure, a length of 1.5 meters, a width of 0.8 meters, a height of 0.5 meters, and a draft of 0.3 meters, ensuring navigation stability in shallow water areas. The dual propulsion motors are DC brushless motors, each with a power of 300W, achieving steering through differential control, a maximum navigation speed of 3 km / h, and an endurance of 8 hours. The dual-frequency ultrasonic array probe module 20 is fixed to a metal mounting base at the bottom of the platform with stainless steel bolts, and a rubber buffer pad is provided between the mounting base and the platform to reduce the impact of navigation vibrations. The dynamic... The coordinate calibration navigation unit 30 is fixed to the L-shaped bracket at the front end of the top of the platform with waterproof screws. The bracket is 0.3 meters high to prevent water immersion. The anti-interference data bus is a shielded twisted pair cable with an outer waterproof insulating sleeve. The two ends are connected to the navigation unit signal interface and the probe module control chip, respectively. The multi-source data fusion processing module 40 is installed on the middle layer of the aluminum alloy bracket inside the platform. The bracket is connected to the inner wall of the platform through shock-absorbing springs. The module shell has an IP68 waterproof rating. The pressure adjustment component 50 is nested in the annular groove on the outer layer of the probe module shell with a snap-fit. The inner wall of the groove is equipped with a sealing strip to isolate water.

[0026] Furthermore, the dual-frequency ultrasonic array probe module 20 is connected to the main body of the mobile carrier platform 10 via an elastic shock-absorbing bracket 60. An electric gimbal is nested at the bottom of the elastic shock-absorbing bracket 60. The electric gimbal receives the drive signal from the dual-frequency ultrasonic array probe module 20, driving the module to adjust its pitch and horizontal orientation. In this embodiment, the elastic shock-absorbing bracket 60 is made of natural rubber, has a cylindrical structure, is 0.2 meters high and 0.15 meters in diameter, and has an internal metal frame for reinforcement. Its top is bolted to the platform body via a flange, and its bottom is welded to the electric gimbal mounting plate. The electric gimbal is a two-axis gimbal with two built-in stepper motors, controlling pitch (±30°) and horizontal deflection (±15°) respectively. Its outer shell is made of anodized aluminum alloy with an IP67 waterproof rating. The probe module control chip is a microcontroller, connected to the gimbal stepper motor driver via an I / O interface. After receiving position data from the navigation unit, it generates a PWM signal to drive the gimbal to align the probe with the water-facing slope of the dam.

[0027] Furthermore, the pressure regulating component 50 includes a pressure sensor and an air valve. The pressure sensor is electrically connected to the dual-frequency ultrasonic array probe module 20. The air valve is connected to the sealed air chamber via an air tube. After the pressure sensor monitors the pressure signal corresponding to the water depth, the air valve adjusts the air pressure in the sealed air chamber according to the signal. In this embodiment, the pressure sensor is a diffused silicon type with a range of 0-1 MPa and an accuracy of 0.2%FS. It is installed on the housing of the regulating component via a threaded interface, and the probe directly contacts the water body. The signal end is connected to the probe module control chip via a shielded wire. The air valve is a 12V two-position three-way electromagnetic proportional valve, connected to the sealed air chamber air tube via an air tube connector. The air tube is made of polyurethane (6mm inner diameter, with a wear-resistant outer sheath). When the water depth increases, causing the pressure to rise, the sensor sends an analog signal to the control chip. The chip outputs a current signal to adjust the opening of the air valve, increasing the air pressure in the chamber, and vice versa, maintaining acoustic impedance matching.

[0028] Furthermore, the dynamic coordinate calibration navigation unit 30 also includes an inertial measurement unit 70 and a wireless data transmission module 80. The inertial measurement unit 70 is used to assist in correcting the position deviation of the mobile carrier platform 10 during movement. The wireless data transmission module 80 is installed at the top rear end of the mobile carrier platform 10 and is connected to the multi-source data fusion processing module 40 to transmit the information processed by the multi-source data fusion processing module 40. The anti-interference data bus stably transmits the position data of the mobile carrier platform 10 to the dual-frequency ultrasonic array probe module 20. In this embodiment, the inertial measurement unit 70 is a six-axis IMU module, integrating an accelerometer and a gyroscope, with a sampling frequency of 100Hz. It is connected to the main controller of the navigation unit via an SPI interface to collect platform angular velocity and acceleration data, which is then fused with data from the global positioning module to correct position deviations caused by water flow disturbances. The wireless data transmission module 80 is a 4G / LoRa dual-mode module, installed on the rear antenna bracket at the top of the platform (antenna height 0.4 meters), connected to the data fusion module via an RS485 interface, with a transmission rate of 1Mbps. It automatically switches to LoRa mode when there is no 4G signal (transmission distance 5km). The anti-interference data bus has a transmission rate of 9600bps, with CRC check, and transmits a set of position data to the probe module every 100ms to ensure data integrity.

[0029] Furthermore, the sealed air chamber of the pressure regulating component 50 forms a closed space with the outer shell of the dual-frequency ultrasonic array probe module 20. The inner wall of the sealed air chamber is provided with a pressure feedback component, which is connected to the pressure sensor and provides real-time feedback of the air pressure within the chamber to the pressure sensor. The electric gimbal is equipped with a drive motor, which is electrically connected to the dual-frequency ultrasonic array probe module 20. After receiving a drive signal, the drive motor drives the dual-frequency ultrasonic array probe module 20 to adjust its pitch and horizontal deflection angles. The dual-frequency ultrasonic array probe module 20 is equipped with a signal switching component, which is connected to the dynamic coordinate calibration and navigation unit 30. This component switches the type of ultrasonic detection signal based on the position data of the mobile carrier platform 10. The multi-source data fusion processing module 40 has a signal integration component, which is connected to the signal processing component, the global positioning module of the dynamic coordinate calibration and navigation unit 30, and the water pressure sensor, respectively, to correlate and integrate the ultrasonic signal, position data, and water pressure data. In this embodiment, the sealed air chamber is formed by welding a stainless steel annular cavity to the probe shell, with a wall thickness of 5mm and a volume of 50cm³. The air pressure feedback component is a miniature pressure sensor (range 0-0.8MPa), installed on the side wall of the chamber, and connected to the pressure sensor signal processing circuit through wires to form a closed-loop control. The drive motor is a miniature stepper motor (step angle 1.8°), connected to the gimbal rotation shaft through a reduction gear set (10:1) to ensure smooth and accurate rotation. The signal switching component is an analog switch chip, controlled by the GPIO pin of the control chip. High-frequency detection is switched when the platform is close to the dam shoreline, and low-frequency detection is switched when it is far away. The signal integration component is an FPGA chip with a built-in data fusion algorithm to align the denoised ultrasonic signal, coordinate data, and water pressure data in time and space to generate a leak point location-depth data packet.

[0030] Furthermore, the mobile carrier platform 10 is integrally molded from high-strength plastic. A protective cabin is provided on the top of the mobile carrier platform 10, covering the outside of the dynamic coordinate calibration and navigation unit 30 to protect it from external environmental influences. A flow-guiding structure is provided at the bottom of the mobile carrier platform 10, arranged along its length to reduce water flow resistance during movement. It also includes a remote control terminal, wirelessly connected to the wireless data transmission module 80, receiving information transmitted by the wireless data transmission module 80 and sending control commands to it. The remote control terminal has a display component connected to the wireless data transmission module 80, displaying in real-time the detection information of the dual-frequency ultrasonic array probe module 20 and the position information of the mobile carrier platform 10. In this embodiment, the high-strength plastic is ABS engineering plastic, integrally molded by injection molding; the protective chamber is made of transparent PC material, connected to the platform body by hinges, with waterproof strips (IP66) on the edges, and a sponge cushioning pad inside to prevent collision damage to the navigation unit; the flow guiding structure is a triangular flow guide plate, arranged along the length of the platform bottom (0.2 meters apart, 0.05 meters high), reducing water flow resistance and motor energy consumption; the remote control terminal is a 10.1-inch industrial-grade tablet (1920×1200 resolution), connected to a wireless transmission module via WiFi, the control software supports manual control of the motor and parameter settings, and the display component refreshes the ultrasonic echo image and GPS track in real time (refresh rate 10fps).

[0031] Furthermore, the dual-frequency ultrasonic array probe module 20 includes a high-frequency detection component and a low-frequency detection component, both of which are connected to the signal switching component. The signal switching component selects to activate either the high-frequency or low-frequency detection component based on the location data. The dynamic coordinate calibration navigation unit 30 has a map matching component connected to its shoreline matching sensor. This map matching component, combined with a preset electronic map of the dam, further calibrates the position of the mobile carrier platform 10. The system also includes a power supply system, with its battery assembly installed in a battery compartment at the bottom of the mobile carrier platform 10. The battery compartment has a sealed structure to prevent water from entering. The remote control terminal includes a data storage component connected to the display component, which stores the detection data of the dual-frequency ultrasonic array probe module 20 and the operating data of the mobile carrier platform 10, and supports data export. In this embodiment, the high-frequency detection component has a center frequency of 5MHz (detecting shallow seepage of 0-3 meters), and the low-frequency detection component has a center frequency of 1MHz (detecting deep seepage of 3-10 meters). Both are piezoelectric ceramic transducers, and the bottom of the probe is encapsulated in epoxy resin. The map matching component is an embedded software module that runs on the main controller of the navigation unit. It compares the shoreline contour collected by the shoreline matching sensor with a preset electronic map of the dike and corrects the positioning error to within 0.5 meters. The power supply system consists of two sets of 12V / 100Ah lithium batteries (24V in series). The battery compartment is made of stainless steel (with internal insulating gaskets and O-ring seals). The data storage component is a 1TB SSD hard drive that connects to a terminal via USB 3.0 and automatically stores CSV format data, which can be exported to Excel or CAD.

[0032] In summary, this device achieves precise location of seepage points in dams through the synergy of dual-frequency ultrasonic detection and dynamic navigation calibration; it achieves stable transmission of detection signals at different water depths through closed-loop control of the pressure regulation component; it achieves effective differentiation between seepage signals and interference signals through multi-source data fusion processing; and it achieves unmanned detection and data traceability through remote control and data storage functions, significantly improving detection efficiency and accuracy while reducing human risks and costs.

[0033] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope described in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An ultrasonic detection device for locating seepage points in dams, characterized in that, include: The mobile carrier platform (10) is equipped with dual propulsion motors at the rear to drive the device to move. A dual-frequency ultrasonic array probe module (20) is installed at the bottom of the mobile carrier platform (10); The dynamic coordinate calibration navigation unit (30) is fixed at the top front end of the mobile carrier platform (10) and is directly connected to the dual-frequency ultrasonic array probe module (20) through an anti-interference data bus. It can obtain the carrier position information in real time and dynamically calibrate the position information of the mobile carrier platform (10), and transmit position data to the dual-frequency ultrasonic array probe module (20) to drive its attitude adjustment. The multi-source data fusion processing module (40) is installed in the middle layer inside the carrier platform, together with the dual-frequency ultrasonic array probe module (20) and the dynamic coordinate calibration navigation unit (30). The pressure regulating component (50) is nested in the outer shell of the dual-frequency ultrasonic array probe module (20). The pressure regulating component (50) is electrically connected to the probe module. The pressure regulating component (50) adjusts the air pressure in the sealed air cavity according to the water depth to adapt to the acoustic impedance.

2. The ultrasonic detection device for locating seepage points in a dam according to claim 1, characterized in that, The dual-frequency ultrasonic array probe module (20) is connected to the main body of the mobile carrier platform (10) through an elastic shock-absorbing bracket (60). An electric gimbal is nested at the bottom of the elastic shock-absorbing bracket (60). The electric gimbal receives the drive signal of the dual-frequency ultrasonic array probe module (20) and drives the dual-frequency ultrasonic array probe module (20) to perform pitch and horizontal attitude adjustment.

3. The ultrasonic detection device for locating seepage points in a dam according to claim 2, characterized in that, The pressure regulating assembly (50) includes A pressure sensor, which is electrically connected to the dual-frequency ultrasonic array probe module (20); An air valve is connected to the sealed air chamber via an air pipe. After the pressure sensor monitors the pressure signal corresponding to the water depth, the air valve adjusts the air pressure in the sealed air chamber according to the signal.

4. The ultrasonic detection device for locating seepage points in a dam according to claim 3, characterized in that, The dynamic coordinate calibration navigation unit (30) further includes: An inertial measurement unit (70) is used to assist in correcting the positional deviation of the mobile carrier platform (10) during the movement process; The wireless data transmission module (80) is installed at the top rear end of the mobile carrier platform (10). The wireless data transmission module (80) is connected to the multi-source data fusion processing module (40) and is used to transmit the information processed by the multi-source data fusion processing module (40). The anti-interference data bus stably transmits the position data of the mobile carrier platform (10) to the dual-frequency ultrasonic array probe module (20).

5. The ultrasonic detection device for locating seepage points in a dam according to claim 3, characterized in that, The sealed air chamber of the pressure regulating component (50) forms a closed space with the outer shell of the dual-frequency ultrasonic array probe module (20). The inner wall of the sealed air chamber is provided with a pressure feedback component, which is connected to the pressure sensor and provides real-time feedback of the air pressure in the chamber to the pressure sensor. The electric gimbal is provided with a drive motor, which is electrically connected to the dual-frequency ultrasonic array probe module (20). After receiving the drive signal, the drive motor drives the dual-frequency ultrasonic array probe module (20) to adjust the pitch angle and horizontal deflection angle. The dual-frequency ultrasonic array probe module (20) is provided with a signal switching component, which is connected to the dynamic coordinate calibration navigation unit (30) and switches the type of ultrasonic detection signal according to the position data of the mobile carrier platform (10). The signal integration component of the multi-source data fusion processing module (40) is connected to the signal processing component, the global positioning module and the water pressure sensor respectively, and integrates the ultrasonic signal, position data and water pressure data.

6. The ultrasonic detection device for locating seepage points in a dam according to claim 5, characterized in that, The mobile carrier platform (10) is integrally molded from high-strength plastic. The top of the mobile carrier platform (10) is provided with a protective cabin, which is placed outside the dynamic coordinate calibration navigation unit (30) to protect the dynamic coordinate calibration navigation unit (30) from the influence of the external environment. The bottom of the mobile carrier platform (10) is provided with a flow guiding structure, which is arranged along the length of the mobile carrier platform (10) to reduce the water flow resistance when the device moves. The remote control terminal is wirelessly connected to the wireless data transmission module (80), receives the information transmitted by the wireless data transmission module (80), and sends control commands to the wireless data transmission module (80). The remote control terminal is provided with a display component, which is connected to the wireless data transmission module (80) to display the detection information of the dual-frequency ultrasonic array probe module (20) and the position information of the mobile carrier platform (10) in real time.

7. The ultrasonic detection device for locating seepage points in a dam according to claim 6, characterized in that, The dual-frequency ultrasonic array probe module (20) is equipped with a high-frequency detection component and a low-frequency detection component. Both the high-frequency detection component and the low-frequency detection component are connected to the signal switching component. The signal switching component selects to enable the high-frequency detection component or the low-frequency detection component according to the location data. The dynamic coordinate calibration navigation unit (30) has a map matching component. The map matching component is connected to the shoreline matching sensor. The map matching component, combined with a preset dam electronic map, further calibrates the position of the mobile carrier platform (10). The power supply system has a battery assembly. The battery assembly is installed in the battery compartment at the bottom of the mobile carrier platform (10). The battery compartment has a sealed structure to prevent water from entering. The remote control terminal has a data storage component. The data storage component is connected to the display component and stores the detection data of the dual-frequency ultrasonic array probe module (20) and the operation data of the mobile carrier platform (10).

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