Dam crack detecting and repairing robot

Abstract

The utility model belongs to the technical field of equipment special for dam repair, and particularly relates to a dam crack detecting and repairing robot. The dam crack detecting and repairing robot comprises a rack body, a walking mechanism, a crack detecting mechanism and a repairing mechanism, the rack body is a frame arranged on the walking mechanism, the crack detecting mechanism and the repairing mechanism are arranged on the rack body, and the walking mechanism drives the rack body to move; the crack detection mechanism is arranged on the rack body and comprises a control calculation module, a camera module and a three-dimensional laser scanning module; and the repairing mechanism is used for leading out a repairing material from the material storage box when the crack needs to be repaired. The dam crack detecting and repairing robot can be used for daily maintenance of a dam, automatic detection is achieved, cracks can be repaired through the repairing mechanism, the repairing precision is controlled and calculated according to the control and calculation module, the precision is high, the labor efficiency is greatly improved, automation of dam crack detection can be achieved, and the working efficiency is improved. And daily maintenance of the dam is facilitated.

Description

Technical Field

[0001] The utility model belongs to the technical field of special equipment for dam repair, and in particular relates to a dam crack detection and repair robot. Background Art

[0002] In water conservancy projects, dams are a very common engineering project. Due to the different materials used in construction projects, there are many types of dams, such as concrete dams, dry stone dams, earth-rock dams, earth dams, etc. Due to factors such as construction costs and geographical characteristics, earth dams are relatively more common than other types of dams, because they are easy to construct, low cost, and can be constructed using local materials in many places, and the construction period is also short. However, earth dams are also relatively prone to cracks, leakage, backwater landslides, water collapses, overflows, and breaches. Cracks are a common dam disease. Traditional monitoring and maintenance methods require a lot of manpower, material and financial resources, and the disease detection effect is poor, and the maintenance and cleaning efficiency is low.

[0003] To solve the above problems, the invention patent application with patent number CN202211540244.X discloses a dam repair robot, including wheels, motors, a frame and anchors, the motors are no less than four, the motors are all mounted on the frame, the wheels are mounted on the motors, the frame is a block-shaped frame, and the frame is provided with a plurality of receiving slots, some of the receiving slots are used to place the anchors, the anchors are fixed to the frame by chains, the frame is provided with plug ports, and the motors are each connected to the plug ports by wires. This type of dam repair robot needs to be manually controlled, and the repair is done by filling with soil. This type of repair robot is generally used when disasters occur, which is not conducive to the daily maintenance of dams. Utility Model Content

[0004] In order to overcome the deficiencies in the prior art, the utility model provides a dam crack detection and repair robot suitable for daily maintenance of dams.

[0005] A dam crack detection and repair robot comprises a frame body, a walking mechanism, a crack detection mechanism, and a repair mechanism, wherein the frame body is a framework arranged on the walking mechanism, the crack detection mechanism and the repair mechanism are arranged on the frame body, and the walking mechanism drives the frame body to move; the crack detection mechanism is arranged on the frame body, and comprises a control calculation module, a camera module, and a three-dimensional laser scanning module, the camera module and the three-dimensional laser scanning module are arranged on the frame body, and the control calculation module is connected to the calculation module and the camera module by signal; the repair mechanism comprises a material storage box and a liquid discharge mechanism, the material storage box is arranged on the frame body for storing repair materials for repairing dam diseases, the liquid discharge mechanism is connected to the material storage box, and the repair mechanism is connected to the crack detection mechanism by signal, and is used to draw out the repair materials from the material storage box when cracks need to be repaired.

[0006] Furthermore, the walking mechanism includes a driving device, a transmission shaft, and a driving wheel. The driving device is connected to the driving wheel, and the driving wheel transmits power to the transmission shaft.

[0007] Furthermore, the crack detection mechanism also includes a lighting module, which is arranged on the frame body and is used to provide light source for the camera module and the three-dimensional laser scanning module.

[0008] Furthermore, a stirring shaft for stirring the stored repair material is provided in the material storage box.

[0009] Furthermore, the liquid outlet mechanism is signal-connected to the control calculation module.

[0010] Furthermore, the liquid outlet mechanism comprises a grouting pipe, one end of which is connected to the material storage box and the other end of which extends out of the material storage box.

[0011] Furthermore, the liquid outlet mechanism also includes a solenoid valve, which is arranged on the grouting pipe to control the opening and closing of the grouting pipe, and the solenoid valve is connected to the control calculation module signal.

[0012] Furthermore, the grouting pipe is arranged at the bottom of the frame

[0013] The dam crack detection and repair robot provided by the utility model can be used for the daily maintenance of the dam and realizes automatic detection. The cracks are identified and measured by the camera module and the three-dimensional laser scanning module. The recognition accuracy is high and the cracks of the disease can be found quickly. Unmanned automatic measurement is realized and misjudgment can be effectively avoided. The cracks can be repaired by the repair mechanism. The repair accuracy is controlled and calculated according to the control calculation module. The accuracy is high and the labor efficiency is greatly improved. The automation of dam crack detection can be realized and the daily maintenance of the dam is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A three-dimensional image of a robot for detecting and repairing cracks in dams;

[0015] Figure 2 Schematic diagram of the walking mechanism of the dam crack detection and repair robot;

[0016] Figure 3 Schematic diagram of the structure of the dam crack detection and repair robot. DETAILED DESCRIPTION

[0017] The present invention is further described below through specific implementation methods.

[0018] Reference Figures 1 to 3 As shown, a dam crack detection and repair robot includes a frame body 1, a walking mechanism 2, a crack detection mechanism 3, and a repair mechanism 4;

[0019] The frame body 1 is arranged on a frame of the walking mechanism 2, and the crack detection mechanism 3 and the repair mechanism 4 are arranged on the frame body 1;

[0020] The walking mechanism 2 includes a driving device 21, a transmission shaft 23, and a driving wheel 22. The driving device 21 is connected to the driving wheel 22. The driving wheel 22 transmits power to the transmission shaft 23. The driving wheel 22 drives the frame body 1 to move forward, backward, and turn.

[0021] The crack detection mechanism 3 is arranged on the frame body 1, and includes a control and calculation module 31, a camera module 32, a three-dimensional laser scanning module 33, and a lighting module 34. The camera module 32 is arranged on the frame body 1, and captures the image of the dam road surface that has been walked, and sends the captured signal to the control and calculation module 31. When the camera module 32 captures the cracks of the disease, the three-dimensional laser scanning module 33 starts scanning to scan the cracks of the disease of the dam, obtain three-dimensional information such as the depth, width and length of the disease, and send the scanning information to the control and calculation module 31. The lighting module 34 is arranged on the frame body 1, and is used to provide light source for the camera module 32 and the three-dimensional laser scanning module 33;

[0022] The repair mechanism 4 includes a material storage box 41, a grouting pipe 42, and a solenoid valve 43. The material storage box 41 is arranged on the frame body 1 for storing repair materials for repairing dam diseases, such as asphalt, concrete slurry, etc. A stirring shaft 411 is provided in the material storage box 41 to stir the stored repair materials. The liquid discharge mechanism is composed of a grouting pipe 42 and a solenoid valve 43. The grouting pipe 42 is arranged at the bottom of the frame body 1, one end of the grouting pipe 42 is connected to the material storage box 41, and the other end extends out of the material storage box 41, which is used to lead out the repair material from the material storage box 41. The solenoid valve 43 is arranged on the grouting pipe 42, and the solenoid valve 43 is connected to the control calculation module 31 signal, and the solenoid valve 43 controls the opening and closing of the grouting pipe 42.

[0023] Reference Figures 1 to 3 As shown, the workflow of the above-mentioned dam crack detection and repair robot is as follows:

[0024] The dam crack detection and repair robot moves along a set track under the drive of the walking mechanism 2, and the stirring shaft 411 in the material storage box 41 keeps stirring to prevent the repair material from solidifying;

[0025] When the frame body 1 moves, the camera module 32 of the crack detection mechanism 3 is turned on, and the camera module 32 identifies the surface of the dam. When a crack of a disease is identified on the surface of the dam, a signal is sent to the control and calculation module 31. The control and calculation module 31 drives the three-dimensional laser scanning module 33 to turn on, and scans and measures the length, width and depth of the diseased crack. After the measurement, a detection data signal is sent to the control and calculation module 31. When the three-dimensional data of the crack reaches a set threshold, it is determined that the diseased crack needs to be repaired. The control and calculation module 31 compares the three-dimensional data of the crack with the time in the database, calculates the time when the electromagnetic valve 43 needs to be opened, and sends a control signal to the repair mechanism 4;

[0026] The material storage box 41 stores materials for repairing dam defects, such as asphalt, concrete slurry, etc. When the solenoid valve 43 obtains the control signal sent by the control calculation module 31, the solenoid valve 43 opens, and the repair material in the material storage box 41 is discharged along the grouting pipe 42 to fill the cracks and complete the repair work.

[0027] The dam crack detection and repair robot provided by the utility model can be used for daily maintenance of the dam and realize automatic detection. Through recognition by the camera module 32 and scanning by the three-dimensional laser scanning module 33, the recognition accuracy is high, and the cracks of the disease can be quickly found, and unmanned automatic measurement can be realized and misjudgment can be effectively avoided. The cracks can be repaired by the repair mechanism 4. The repair accuracy of the repair mechanism 4 is controlled and calculated according to the control calculation module 31, and the accuracy is high, which greatly improves the labor efficiency, can realize the automation of dam crack detection, and is convenient for daily maintenance of the dam.

[0028] The above are only some specific implementation methods of the utility model, but the design concept of the utility model is not limited to this. Any non-substantial changes to the utility model using this concept shall be deemed as an infringement of the protection scope of the utility model.

Claims

1. A dam crack detection and repair robot, characterized in that: It includes a frame body, a walking mechanism, a crack detection mechanism, and a repair mechanism. The frame body is a frame arranged on the walking mechanism. The crack detection mechanism and the repair mechanism are arranged on the frame body, and the walking mechanism drives the frame body to move; the crack detection mechanism is arranged on the frame body, and includes a control calculation module, a camera module, and a three-dimensional laser scanning module. The camera module and the three-dimensional laser scanning module are arranged on the frame body, and the control calculation module is connected with the calculation module and the camera module by signal; the repair mechanism includes a material storage box and a liquid discharge mechanism. The material storage box is arranged on the frame body and is used for storing repair materials for repairing dam diseases. The liquid discharge mechanism is connected with the material storage box. The repair mechanism is connected with the crack detection mechanism by signal, and is used for drawing out repair materials from the material storage box when cracks need to be repaired.

2. The dam crack detection and repair robot according to claim 1 is characterized by: The walking mechanism comprises a driving device, a transmission shaft and a driving wheel. The driving device is connected to the driving wheel, and the driving wheel transmits power to the transmission shaft.

3. The dam crack detection and repair robot according to claim 1 is characterized by: The crack detection mechanism also includes a lighting module, which is arranged on the frame body and is used to provide light source for the camera module and the three-dimensional laser scanning module.

4. The dam crack detection and repair robot according to claim 1, characterized in that: A stirring shaft for stirring the stored repair material is arranged in the material storage box.

5. The dam crack detection and repair robot according to claim 1, characterized in that: The liquid outlet mechanism is connected to the control calculation module by signal.

6. The dam crack detection and repair robot according to claim 5, characterized in that: The liquid outlet mechanism comprises a grouting pipe, one end of which is connected to the material storage box and the other end of which extends out of the material storage box.

7. The dam crack detection and repair robot according to claim 5, characterized in that: The liquid outlet mechanism also includes a solenoid valve, which is arranged on the grouting pipe to control the opening and closing of the grouting pipe, and the solenoid valve is connected to the control calculation module signal.

8. The dam crack detection and repair robot according to claim 6, characterized in that: The grouting pipe is arranged at the bottom of the frame body.

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