Dam piping detection water surface base station with underwater positioning function and dam piping detection system

Abstract

The dam piping detection water surface base station comprises a water surface base station body, an underwater positioning antenna and an RTK module, the water surface base station body comprises a ship body and a waterproof electric control box, the underwater positioning antenna is installed below the front end of the ship body through a folding and unfolding mechanism, and the underwater positioning antenna is installed below the front end of the ship body through the folding and unfolding mechanism. The RTK module is arranged on the ship body and used for obtaining global positioning data, and the RTK module is electrically connected with the waterproof electric control box. A water surface base station capable of floating on the water surface is formed, the water surface base station can float at any position of the water surface, the underwater positioning antenna can be automatically unfolded underwater, the situation that special shoreside terrains such as a dam slope cannot be unfolded in place is avoided, global positioning data is obtained through the RTK module to serve as external input of underwater positioning, and the positioning accuracy is improved. Manual calibration is not needed; and the positioning precision is high. The movement range of the remote control submersible can be expanded, and the detection range and the detection capability of dam piping detection are improved.

Description

Technical Field

[0001] The utility model relates to the field of dam piping detection, in particular to a dam piping detection water surface base station with underwater positioning and a dam piping detection system. Background Art

[0002] In the past, detection equipment that uses the "pseudo-flow field method" technology to detect hidden dangers of pipe bursts and leakage in dams generally required construction workers to take a boat and drag the probe in the water to detect hidden dangers of pipe bursts and leakage in dams. This had the problems of low detection efficiency and inability to determine the depth of the probe.

[0003] At present, a research institute has designed a dam piping leakage detection system, including a remote-controlled submersible carrying a locator and a collection device, and a matching antenna responsible for underwater differential positioning and an underwater positioning system main control box. The remote-controlled submersible can move freely underwater and detect hidden dangers of dam piping leakage through probes. The main control box obtains the real-time position of the remote-controlled submersible (locator) through the differential positioning antenna, thereby locating the position of the dam piping leakage.

[0004] The disadvantages of this method are: 1. The differential positioning antenna must be set up under the water surface to communicate with the locator. Therefore, it is necessary to manually deploy the differential positioning antenna underwater on the shore, which is time-consuming and labor-intensive and difficult to deploy on the slope of the dam. 2. If the remote-controlled submersible is too far away from the shore, there will be problems with unstable communication connection. 3. The original main control box uses integrated GPS and magnetic compass to obtain global positioning data, which requires manual calibration and has poor positioning capabilities. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a dam piping detection water surface base station with underwater positioning and a dam piping detection system, which can be directly set anywhere on the water surface without manual deployment, saves time and effort, and improves the range of activities of remote-controlled submersibles and has good positioning capabilities.

[0006] According to the first embodiment of the utility model, the surface base station for detecting dam piping with underwater positioning is used to communicate with a remote-controlled submersible and a ground monitoring station. The remote-controlled submersible is provided with a locator and a first three-component probe, including:

[0007] A surface base station, the surface base station comprising a hull and a waterproof electric control box, the waterproof electric control box being arranged on the hull;

[0008] An underwater positioning antenna, the underwater positioning antenna is used to perform hydroacoustic communication with a locator to obtain the real-time underwater position of a remotely operated submersible, the underwater positioning antenna is installed below the front end of the hull through a folding and retracting mechanism to achieve folding and underwater deployment, and the signal output end of the underwater positioning antenna is electrically connected to the waterproof electric control box;

[0009] An RTK module is arranged on the hull to obtain global positioning data, and the RTK module is electrically connected to the waterproof electric control box.

[0010] According to the first aspect of the present invention, the dam pipe burst detection water surface base station with underwater positioning has at least the following features:

[0011] Beneficial effects:

[0012] The implementation method of the utility model forms a surface base station that can float on the water surface through the hull and the waterproof electric control box. The surface base station can float anywhere on the water surface. The underwater positioning antenna is installed under the front end of the hull through a folding and retracting mechanism, and can automatically realize underwater deployment without manual deployment. It floats on the water surface with the surface base station, which can avoid the situation where special shore terrains such as the slope of the dam cannot be deployed in place. The surface base station obtains global positioning data as an external input for underwater positioning through the RTK module, and does not require manual calibration and has high positioning accuracy. Since the RTK module is real-time dynamic positioning, and the surface base station can be set anywhere on the water surface, it can expand the range of activities of the remote-controlled submersible and improve the detection range and detection capability of dam piping detection.

[0013] According to some embodiments of the utility model, the hull includes a hard float and a support frame, the support frame is fixed on the hard float, the waterproof electric control box and the RTK module are connected above the support frame, and the underwater positioning antenna is installed below the front end of the support frame through a folding and retracting mechanism.

[0014] According to some embodiments of the present invention, the hull further comprises two lightweight floats, which are relatively arranged on both sides of the hard float and form an integral structure with the hard float via a support frame.

[0015] According to some embodiments of the utility model, a power device is also provided on the hull for driving the hull to move on the water surface.

[0016] According to some embodiments of the utility model, the power device includes two first driving devices arranged at the end of the hull and two second driving devices respectively arranged on both sides of the hull, the first driving devices are used to drive the hull to move forward and backward and turn, and the second driving devices are used to drive the hull to translate.

[0017] According to some embodiments of the utility model, a second dam piping detection device is also included, which includes a second three-component probe and an electric cable reel. The second three-component probe is electrically connected to the waterproof electric control box via a cable. The waterproof electric control box is connected to the control end of the electric cable reel to drive the second three-component probe to be placed vertically in the water for dam piping detection.

[0018] According to some embodiments of the utility model, the hull includes a hard float and a support frame, the support frame is fixed on the hard float, the waterproof electric control box and the RTK module are both arranged above the support frame, the underwater positioning antenna is installed below the front end of the support frame through a folding and retracting mechanism, the hard float is a hollow ring shape, the electric cable reel is installed on the support frame, and the second three-component probe is located above the hollow area of ​​the hard float when in a retracted state.

[0019] According to some embodiments of the present invention, the hull further includes a plurality of lightweight floats, which are evenly distributed around the hard float and form an integrated structure with the hard float via a support frame.

[0020] According to some embodiments of the present utility model, the RTK module includes an RTK circuit board and two RTK antennas, the RTK circuit board is arranged in the waterproof electrical control box, the two RTK antennas are respectively arranged on both sides of the hull, and the RTK circuit board is electrically connected to the two RTK antennas respectively.

[0021] According to the embodiment of the second aspect of the utility model, the dam piping detection system includes a ground monitoring station, a remote-controlled submersible and the above-mentioned dam piping detection surface base station with underwater positioning, the remote-controlled submersible is provided with a locator and a first three-component probe, the ground monitoring station is connected to the remote-controlled submersible via a cable, and the dam piping detection surface base station with underwater positioning is respectively communicated with the remote-controlled submersible and the ground monitoring station.

[0022] The dam piping detection system according to the second aspect of the present invention has at least the following beneficial effects:

[0023] The implementation method of the utility model forms a surface base station that can float on the water surface through the hull and the waterproof electric control box. The surface base station can float anywhere on the water surface. The underwater positioning antenna is installed under the front end of the hull through a folding and retracting mechanism, and can automatically realize underwater deployment without manual deployment. It floats on the water surface with the surface base station, which can avoid the situation where special shore terrains such as the slope of the dam cannot be deployed in place. The surface base station obtains global positioning data as an external input for underwater positioning through the RTK module, and does not require manual calibration and has high positioning accuracy. Since the RTK module is real-time dynamic positioning, and the surface base station can be set anywhere on the water surface, it can expand the range of activities of the remote-controlled submersible and improve the detection range and detection capability of dam piping detection.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0026] Figure 1 A three-dimensional diagram of a dam piping detection water surface base station with underwater positioning in a folded state in an embodiment of the utility model;

[0027] Figure 2 A three-dimensional diagram of a water surface base station for detecting dam piping with underwater positioning in an unfolded state in an embodiment of the utility model;

[0028] Figure 3 It is a top view of a water surface base station for detecting dam piping with underwater positioning in an unfolded state in an embodiment of the utility model;

[0029] Figure 4 It is a bottom view of a dam piping detection water surface base station with underwater positioning in a folded state in an embodiment of the utility model;

[0030] Figure 5 It is a principle block diagram of the dam piping detection system in the embodiment of the utility model.

[0031] Figure Number:

[0032] The hull 100, the hard buoy 110, the support frame 120, the lightweight buoy 130, the waterproof electric control box 200, the underwater positioning antenna 300, the folding and retracting mechanism 400, the positive screw 410, the reverse screw 420, the RTK module 500, the first driving device 610, the second driving device 620, the second three-component probe 710, the electric cable drum 720, the ground monitoring station 800, and the remotely controlled submersible 900. DETAILED DESCRIPTION

[0033] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0034] In the description of the present invention, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0035] In the description of the present utility model, "a plurality" means more than two. If there is a description of "first" or "second", it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0036] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0037] Reference Figure 1 and Figure 2 As shown, a surface base station for detecting pipe bursts in dams with underwater positioning is used to communicate with a remote-controlled submersible 900 and a ground monitoring station 800. The remote-controlled submersible 900 is provided with a locator and a first three-component probe. The surface base station for detecting pipe bursts in dams includes: a surface base station, an underwater positioning antenna 300 and an RTK module 500.

[0038] Specifically, the surface base station includes a hull 100 and a waterproof electric control box 200. The waterproof electric control box 200 is arranged on the hull 100. The hull 100 is used to provide buoyancy to float on the water surface. The shell of the waterproof electric control box 200 is a sealed box. The sealed box is provided with an external connection socket board. Various electronic components that need to be waterproof, such as power supply modules, circuit boards, and communication modules, are installed inside the sealed box.

[0039] It should be noted that the underwater positioning antenna 300 is used to perform hydroacoustic communication with the locator to obtain the real-time underwater position of the remote-controlled submersible 900. The underwater positioning antenna 300 relies on four fixed-position transducers to perform hydroacoustic communication with the locator on the remote-controlled submersible 900 to perform differential positioning. Since all transducers need to be immersed in water during operation, the underwater positioning antenna 300 in this application is installed below the front end of the hull 100 through a folding and retracting mechanism 400. Figure 2 As shown, when working, the folding and retracting mechanism 400 is deployed underwater, referring to Figure 1 As shown, when not working, the underwater positioning antenna 300 is folded to the front end of the hull 100 through the folding and retracting mechanism 400 to avoid damage caused by accidental collision. The signal output end of the underwater positioning antenna 300 is electrically connected to the waterproof electric control box 200 to provide underwater positioning data. The main control circuit board in the waterproof electric control box 200 processes the underwater positioning data to obtain the relative position of the locator and itself, and then calculates the underwater positioning data to the base station position to obtain the global positioning information of the locator. Before use, the locator and the main control circuit board need to be synchronized in time, and the positioning and orientation data of the main control board directly affects the positioning accuracy of the locator.

[0040] refer to Figure 1 and Figure 2 As shown, the folding and retracting mechanism 400 is provided with a retracting and retracting drive motor that provides power, and the retracting and retracting drive motor includes an all-metal standard steering gear and a linear motor. The steering gear rotates 90 degrees and is responsible for driving the entire folded underwater positioning antenna 300. The folded underwater positioning antenna 300 is in a ready-to-deploy state when it is vertical, and is easy to carry when it is horizontal. The expansion and folding of the underwater positioning antenna 300 is driven by the linear motor. The linear motor is connected to a positive screw 410 through a coupling, and a positive nut is provided on the positive screw 410, which is fixedly installed inside the connection block with the servo. When the positive screw 410 rotates clockwise, the nut does not move, and the entire device sinks; the lower end of the positive screw 410 is connected to a negative screw 420 through a coupling, and a negative nut is provided on the negative screw 420, which is installed inside the retractable connecting rod drive sleeve and cannot rotate. When the negative screw 420 rotates clockwise synchronously with the positive screw 410, the negative nut drives the retractable connecting rod drive sleeve to move downward, driving the antenna to unfold. That is, the entire underwater positioning antenna 300 will move downward while unfolding to increase the depth of the antenna into the water. Similar to the unfolding process, the underwater positioning antenna 300 can be retracted and folded by reversing the linear motor. Among them, the positive and negative screw nuts can be reversed, with the negative screw on the top and the positive screw on the bottom, and the difference lies in the direction of rotation of the linear motor.

[0041] It should be noted that the positioning and orientation data of the main control circuit board is obtained based on the global positioning data. The traditional method uses an integrated GPS and a magnetic compass to receive external positioning information input, obtain global positioning data, and perform positioning and orientation and timing on itself. As a base station position, this method requires manual calibration and has poor positioning capability. The present application sets the RTK module 500 on the hull 100, obtains global positioning data through the RTK module 500 and feeds it back to the main control circuit board, so that the main control circuit board can obtain the global positioning information of the remote-controlled submersible 900 based on the global positioning data and underwater positioning data. It should be noted that in addition to the RTK module 500 set on the hull 100, the ground monitoring station 800 is also provided with an RTK module corresponding to the RTK module 500. The RTK module of the ground monitoring station 800 is set as the ground end, and the RTK module on the hull 100 is set as the mobile end. The ground end sends global positioning data to the mobile end.

[0042] refer to Figures 1 to 3 As shown, the hull 100 in the present application includes a hard float 110 and a support frame 120, the support frame 120 is fixed on the hard float 110, the waterproof electric control box 200 and the RTK module 500 are connected above the support frame 120, and the underwater positioning antenna 300 is installed below the front end of the support frame 120 through a folding and retracting mechanism 400.

[0043] It should be noted that the hard float 110 provides a certain buoyancy and supports the waterproof electric control box 200, RTK module 500 and other equipment through the support frame 120. The support frame 120 is made of a hollow PVC pipe, which is light and relatively strong. The cables connecting the waterproof electric control box 200 and other equipment are all arranged inside the hollow support frame 120 pipe to improve the overall waterproofness. In this embodiment, the hard float 110 is made of polyethylene and has a relatively strong structure.

[0044] Although the hard float 110 can provide a certain buoyancy, other equipment needs to be added in practical applications. The hard float 110 alone is not enough to support all the equipment. Therefore, the hull 100 in the present application also includes two light floats 130. The two light floats 130 are relatively arranged on both sides of the hard float 110 and form an integrated structure with the hard float 110 through the support frame 120. In this embodiment, the light float 130 is a foam float made of EPE pearl cotton. It should be understood that in this embodiment, a hull structure of one hard float 110 and two light floats 130 is used, but the present application does not limit the number of hard floats 110 and light floats 130. In addition to two light floats 130, one, three, four or more light floats 130 can also be set, and multiple hard floats 110 can also be set.

[0045] refer to Figures 1 to 3As shown, in order to adjust the position of the surface base station on the water surface at any time, a power device is also provided on the hull 100 to drive the hull 100 to move on the water surface. Specifically, in this embodiment, the power device includes two first drive devices 610 provided at the end of the hull 100 and two second drive devices 620 provided on both sides of the hull 100, the first drive device 610 is used to drive the hull 100 to move forward and backward and turn, and the second drive device 620 is used to drive the hull 100 to translate.

[0046] It should be noted that both the first drive device 610 and the second drive device 620 include brushless motors and corresponding propellers. Most of the power of the battery inside the waterproof electric control box 200 is supplied to the power device to drive the four brushless motors. The corresponding motor of the rear first drive device 610 is configured as differential mixing control. As the main propulsion motor, it can control the surface base station to move forward, turn and retreat at low speed; the corresponding motors of the left and right second drive devices 620 are used as auxiliary motors to enable the hull 100 to have the power of lateral translation, thereby increasing the maneuverability and escape ability.

[0047] Specifically, in this embodiment, the brushless electric speed controllers driving the four motors are all attached with heat sinks and loaded inside the pipe of the support frame 120. They can also be placed in the waterproof electric control box 200 for heat dissipation and isolation. An autopilot circuit board is also provided in the waterproof electric control box 200. All electric speed controllers are connected to the autopilot circuit board. The hardware connected to the autopilot circuit board also includes a data receiving module, a data transmission module, and an image transmission module. In addition to being input to the main control circuit board, the global positioning data of the RTK module 500 is also input to the autopilot circuit board to provide positioning data. The operator of the ground monitoring station 800 can remotely control the movement of the hull 100 through a remote controller, or the ground monitoring station 800 can automatically control the movement of the hull 100 by route planning.

[0048] In order to further improve the ability of dam piping detection, refer to Figure 4 As shown, the present embodiment also includes a second dam pipe burst detection device, which includes a second three-component probe 710 and an electric cable reel 720. The second three-component probe 710 is electrically connected to the waterproof electric control box 200 through a cable. The waterproof electric control box 200 is connected to the control end of the electric cable reel 720 to drive the second three-component probe 710 to be vertically placed in the water for dam pipe burst detection.

[0049] This enables the surface base station to have two types of dam piping detection capabilities, one is dam piping detection through the remote-controlled submersible 900, and the other is dam piping detection through the second three-component probe 710, which improves the level of dam piping detection and has a wider range of applications.

[0050] Specifically, the electric cable drum 720 is driven by a cable drum driving motor. In this embodiment, the cable on the electric cable drum 720 is 10 meters, and the cable is retracted and released entirely by the cable drum driving motor. After the cable drum is released, the second three-component probe 710 sinks by weight. The second three-component probe 710 is provided with a counterweight box, in which a lead block of appropriate weight is placed, and is encapsulated with epoxy resin. The end of the cable is connected to a 6-core electric slip ring installed inside the support frame 120, and the internal cable is then connected to the collection printed circuit board in the waterproof electric control box 200 through the support frame 120. The second three-component probe 710 has a structural advantage of a small volume entering the water, and can be used for continuous detection in shallow water areas, or rely on the advantages of the wind-driven propeller of the surface base station to perform fixed-point vertical detection in waters with dense aquatic plants.

[0051] In order to facilitate the vertical placement and recovery of the second three-component probe 710, the hard float 110 in the present application is a hollow ring shape. When in the retracted state, the second three-component probe 710 is located above the hollow area of ​​the hard float 110. In this way, the second three-component probe 710 is always in the hollow area of ​​the hard float 110. When the electric cable reel 720 pays out the line, the second three-component probe 710 can fall directly vertically into the water for detection due to gravity, which improves the convenience of the detection process.

[0052] Among them, in this embodiment, the RTK module 500 includes an RTK circuit board and two RTK antennas. The RTK circuit board is arranged in a waterproof electrical control box 200, and the two RTK antennas are respectively arranged at the top of the support frame 120 on both sides of the hull 100, and the RTK circuit board is electrically connected to the two RTK antennas respectively.

[0053] Specifically, the use is the same as that of a single antenna. After the power is turned on, the ground terminal and the mobile terminal perform single-point GPS positioning respectively, and data communication is performed between the two to calibrate the positioning information of the mobile terminal. The RTK module 500 as the mobile terminal is connected to two antennas, and a baseline is formed between the antennas. The vertical line of the midpoint is the positive direction of the water base station, which can perform continuous high-precision dynamic orientation measurement. The RTK module 500 with dual antennas can improve the accuracy of the heading angle information. The hardware for external input positioning and orientation inside the waterproof electric control box 200 includes the main control circuit board of the underwater positioning system, the RTK circuit board, the microcomputer, the RJ4 network port switch, the 915Mhz remote wifi data transmission circuit board, etc. The positioning and orientation data of the RTK module 500 cannot be directly input into the main control circuit board, and the data format conversion needs to be performed through the official API. Specific data connection link: The NMEA0183 protocol format positioning and orientation data output by the RTK circuit board is input into the microcomputer through the serial port. The microcomputer automatically runs the Phyon data conversion script when it is turned on. After the data is converted, it is connected to the switch through the network cable, and then input into the main control circuit board of underwater positioning through the switch. After receiving the data, the main control circuit board calculates the position information of the locator, and then outputs the final positioning data to the 915Mhz remote wifi data transmission circuit board through the switch, and transmits the data to the ground monitoring station 800 through a wireless link.

[0054] refer to Figure 5 As shown, the present application also relates to a dam piping detection system, including a ground monitoring station 800, a remote-controlled submersible 900 and a surface base station. The surface base station is the dam piping detection surface base station with underwater positioning of the above-mentioned embodiment. The remote-controlled submersible 900 is provided with a locator and a first three-component probe. The ground monitoring station 800 is connected to the remote-controlled submersible 900 via a cable. On the one hand, the remote-controlled submersible is powered by the cable, and on the other hand, the detection data of the first three-component probe is received through the cable. The surface base station is respectively communicated with the remote-controlled submersible 900 and the ground monitoring station 800. The surface base station obtains the real-time positioning data of the remote-controlled submersible 900 and transmits it to the ground monitoring station 800 via wireless.

[0055] The implementation method of the utility model forms a surface base station that can float on the water surface through the hull and the waterproof electric control box. The surface base station can float anywhere on the water surface. The underwater positioning antenna is installed under the front end of the hull through a folding and retracting mechanism, and can automatically realize underwater deployment without manual deployment. It floats on the water surface with the surface base station, which can avoid the situation where special shore terrains such as the slope of the dam cannot be deployed in place. The surface base station obtains global positioning data as an external input for underwater positioning through the RTK module, and does not require manual calibration and has high positioning accuracy. Since the RTK module is real-time dynamic positioning, and the surface base station can be set anywhere on the water surface, it can expand the range of activities of the remote-controlled submersible and improve the detection range and detection capability of dam piping detection.

[0056] In addition, the surface base station and the remote-controlled submersible 900 and the ground monitoring station 800 all use wireless communication, without the influence of cables, and can be flexibly arranged at any position on the water surface. With a power device, it can be controlled to leave the shore. When encountering complex water conditions, the surface base station can follow the remote-controlled submersible 900 equipped with a locator, keep the underwater unobstructed, and maintain the stable hydroacoustic communication connection of the underwater locator. It also has the ability to detect two types of dam piping, which can improve the level of dam piping detection.

[0057] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A surface base station for detecting pipe bursts in dams with underwater positioning, used for communicating with a remote-controlled submersible (900) and a ground monitoring station (800), wherein the remote-controlled submersible (900) is provided with a positioner and a first three-component probe, characterized in that: include: A water surface base station, the water surface base station comprising a hull (100) and a waterproof electric control box (200), wherein the waterproof electric control box (200) is arranged on the hull (100); An underwater positioning antenna (300), the underwater positioning antenna (300) being used to perform hydroacoustic communication with a locator to obtain the real-time underwater position of a remotely operated submersible (900), the underwater positioning antenna (300) being installed below the front end of the hull (100) via a folding and retracting mechanism (400) to achieve folding and underwater unfolding, and the signal output end of the underwater positioning antenna (300) being electrically connected to the waterproof electric control box (200); An RTK module (500) is arranged on the hull (100) for acquiring global positioning data, and the RTK module (500) is electrically connected to the waterproof electric control box (200).

2. The surface base station for dam piping detection with underwater positioning according to claim 1 is characterized in that: The hull (100) comprises a hard floating body (110) and a support frame (120), wherein the support frame (120) is fixed on the hard floating body (110), the waterproof electric control box (200) and the RTK module (500) are arranged above the support frame (120), and the underwater positioning antenna (300) is installed below the front end of the support frame (120) via a folding and retracting mechanism (400).

3. The surface base station for dam piping detection with underwater positioning according to claim 2 is characterized in that: The hull (100) further comprises two lightweight floating bodies (130), which are arranged oppositely on both sides of the hard floating body (110) and form an integral structure with the hard floating body (110) through a support frame (120).

4. The surface base station for dam piping detection with underwater positioning according to claim 1 is characterized in that: The hull (100) is also provided with a power device for driving the hull (100) to move on the water surface.

5. The surface base station for dam piping detection with underwater positioning according to claim 4 is characterized in that: The power device comprises two first driving devices (610) arranged at the end of the hull (100) and two second driving devices (620) respectively arranged on both sides of the hull (100), wherein the first driving devices (610) are used to drive the hull (100) to move forward and backward and turn, and the second driving devices (620) are used to drive the hull (100) to translate.

6. The surface base station for dam piping detection with underwater positioning according to claim 1, characterized in that: It also includes a second dam piping detection device, which includes a second three-component probe (710) and an electric cable reel (720), wherein the second three-component probe (710) is electrically connected to the waterproof electric control box (200) via a cable, and the waterproof electric control box (200) is connected to the control end of the electric cable reel (720) to drive the second three-component probe (710) to be vertically placed in the water to detect dam piping.

7. The surface base station for dam piping detection with underwater positioning according to claim 6 is characterized in that: The hull (100) comprises a hard float (110) and a support frame (120), wherein the support frame (120) is fixed on the hard float (110), the waterproof electric control box (200) and the RTK module (500) are both arranged above the support frame (120), the underwater positioning antenna (300) is installed below the front end of the support frame (120) through a folding and retracting mechanism (400), the hard float (110) is a hollow annular shape, the electric cable drum (720) is installed on the support frame (120), and when in a retracted state, the second three-component probe (710) is located above the hollow area of ​​the hard float (110).

8. The surface base station for dam piping detection with underwater positioning according to claim 7 is characterized in that: The hull (100) further comprises a plurality of light floating bodies (130), wherein the light floating bodies (130) are evenly distributed around the hard floating body (110) and form an integral structure with the hard floating body (110) via a support frame (120).

9. The surface base station for dam piping detection with underwater positioning according to claim 1, characterized in that: The RTK module (500) comprises an RTK circuit board and two RTK antennas, the RTK circuit board is arranged in the waterproof electric control box (200), the two RTK antennas are respectively arranged on both sides of the hull (100), and the RTK circuit board is electrically connected to the two RTK antennas respectively.

10. A dam piping detection system, characterized in that: The invention comprises a ground monitoring station (800), a remote-controlled submersible (900) and a surface base station, wherein the surface base station is a surface base station for detecting dam pipe bursts with underwater positioning as claimed in any one of claims 1 to 9, the remote-controlled submersible (900) is provided with a locator and a first three-component probe, the ground monitoring station (800) is connected to the remote-controlled submersible (900) via a cable, and the surface base station is respectively communicatively connected to the remote-controlled submersible (900) and the ground monitoring station (800).

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