Water-air amphibious hydropower station dam defect detection device

Abstract

The utility model belongs to the technical field of detection equipment, and discloses a dam defect detection device for a water-air amphibious hydropower station, which comprises a casing, a plurality of wings are rotatably mounted on the casing, a brushless motor is mounted at one end, far away from the casing, of each wing, and a propeller is connected to the output end of each brushless motor. Steering engines with the same number as the wings are arranged in the machine shell, the output ends of the steering engines are each connected with a universal joint, the universal joints are connected with the wings in a one-to-one correspondence mode, a controller, a battery, a water tank and a water pump are arranged in the machine shell, the water pump is connected with the water tank, and the machine shell is provided with a water passing opening communicated with the water pump and the outside. A detection device is arranged on the machine shell, and the brushless motor, the steering engine, the water pump and the detection device are all connected with the controller. The beneficial effects of the utility model are that the device is small in size, can be operated remotely through a Web terminal, is long in endurance time, is high in detection precision, and achieves the combination of sound and light detection.

Description

Technical Field

[0001] This utility model relates to the field of testing equipment technology, and in particular to a defect detection device for amphibious hydropower station dams. Background Technology

[0002] China is a major hydropower producer. Hydropower dams, besides affecting their own economic benefits, are also related to the safety of people's lives and property. Therefore, it is crucial to regularly conduct defect inspections of large hydropower dams to identify potential safety hazards and ensure their safe operation. Currently, most hydropower station inspections rely on manual labor. For the above-water dam sections, traditional unmanned aerial vehicles (UAVs) are used for observation and inspection. These UAVs measure and observe the main structure, foundation, bank slopes, related facilities, and surrounding environment of the hydropower project. Defects are assessed through physical monitoring, chemical monitoring, remote sensing, and stress monitoring. For the underwater dam sections, remotely operated underwater vehicles (ROVs) are used for inspection.

[0003] The construction of hydropower stations typically involves steep slopes on both sides of the dam. Timely and effective inspections of the surrounding environment and potential geological hazards are essential for daily safe production. Previously, hydropower station inspections relied mainly on manual on-site visits and industrial television monitoring systems. These methods were inefficient and limited, with manual inspections requiring traversing mountains and posing inherent risks. Underwater dam inspections, with their deep waters and harsh environments, pose significant threats to the lives of divers. In actual inspections, the naked eye cannot detect all defects, and even with inspection equipment, manual inspections can suffer from fatigue, leading to decreased efficiency and accuracy. Hydropower station inspectors are often suspended high in the air by cranes or stand on pre-erected scaffolds, conducting inspections from elevated platforms with limited visibility, potentially resulting in incomplete inspections and missed findings. Underwater inspections, due to the wide distribution of defects, are prone to oversights, creating safety hazards. Intelligent inspections typically use drones for routine dam detection and hydropower station surrounding environment surveys, but these can only operate from the air. Underwater dam inspections usually use ROVs, which have long umbilical cables for signal and power transmission. Therefore, their use usually requires a mother ship to follow them, which limits their operating space. The long cables also result in significant power transmission losses and energy supply issues.

[0004] Therefore, it is necessary to provide a water-and-air amphibious hydropower station dam defect detection device with advantages such as small size, remote operation via Web, long battery life, high detection accuracy, and fusion of acoustic and optical detection. Summary of the Invention

[0005] This utility model discloses a defect detection device for amphibious hydropower station dams, which can effectively solve the technical problems involved in the background art.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows:

[0007] A defect detection device for an amphibious hydroelectric power station dam includes a housing with multiple wings rotatably mounted on it. A brushless motor is mounted on the end of each wing furthest from the housing, and the output of the brushless motor is connected to a propeller. The housing contains the same number of servo motors as the wings, and each servo motor's output is connected to a universal joint, with each universal joint corresponding to one of the wings. The housing also contains a controller, a battery, a water tank, and a water pump. The water pump is connected to the water tank, and the housing has a water inlet connecting the water pump to the outside. A detection device is mounted on the housing. The brushless motors, servo motors, water pump, and detection device are all connected to the controller.

[0008] Specifically, the application of fusion imaging combining 3D sonar imaging and high-definition infrared cameras solves the problems of low accuracy and limited variety in ordinary visual defect identification, improving perception accuracy and stability in complex mountainous and valley water environments. The use of high-bandwidth, high-stability 5G communication technology improves the efficiency and accuracy of information exchange. Through mechanical structure design, the detection device can smoothly switch flight modes between water and air media, reducing the cost of defect detection in hydropower stations and solving the safety issues associated with manual defect detection in hydropower stations.

[0009] As a preferred improvement of this utility model: a device support frame is installed on the housing, and the device support frame is used to support the housing.

[0010] As a preferred improvement of this utility model: the housing includes a lower body main body, an upper body main body and a cover, the upper body main body is installed above the lower body main body, the upper body main body and the lower body main body are internally connected, and the cover is installed at the top opening of the upper body main body.

[0011] As a preferred improvement of this utility model: the wing includes a front wing and a rear wing, the number of front wings is two and they are installed on the left and right sides in front of the fuselage, and the number of rear wings is two and they are installed on the left and right sides behind the fuselage.

[0012] As a preferred improvement of this utility model, the detection device includes a sonar module, an infrared high-definition camera, and a binocular camera.

[0013] As a preferred improvement of this utility model: a horizontal motor is provided at the bottom of the housing, the output end of the horizontal motor is connected to a horizontal joint, a rolling motor is installed on the horizontal joint, the output end of the rolling motor is connected to the rolling joint, the binocular camera is installed on the rolling joint, the sonar module is installed at the bottom of the housing, and the infrared high-definition camera is installed on the upper side of the housing.

[0014] As a preferred improvement of this utility model: the housing is provided with a first bearing seat and a second bearing seat, the second bearing seat is provided with a second bearing, the wing passes through the housing and is connected to the second bearing, the wing is connected to the first universal joint fork by a cylindrical pin, the first universal joint fork is connected to the second universal joint fork by a main cross shaft, the second universal joint fork is connected to the third universal joint fork by a sub-cross shaft, the first bearing seat is provided with a first bearing, and the third universal joint fork is connected to the first bearing and the servo motor.

[0015] As a preferred improvement of this utility model, the housing is provided with a positioning component and a wireless communication component.

[0016] As a preferred improvement of this utility model: a buoy cable box and a buoy are installed on the housing, the buoy cable box is provided with a communication cable, one end of the communication cable is connected to the buoy, and the other end is connected to the controller.

[0017] The beneficial effects of this utility model are as follows:

[0018] 1. The application of 3D sonar imaging, combined with the DaBai DCW2 binocular camera and high-definition infrared camera fusion imaging, solves the problems of low accuracy and limited variety in ordinary visual defect identification, improving perception accuracy and stability in complex mountain and valley water environments. It also addresses the safety issues associated with manual defect detection in hydropower stations. The axial universal joint structure design allows the detection device to smoothly switch between different media (water and air), reducing the cost of defect detection in hydropower stations. The three-axis gimbal gives the DaBai DCW2 binocular camera three degrees of freedom, enabling wider-range and higher-precision detection. Through rigorous system integration design, multiple systems are modularized and rationally arranged to improve flight stability and system reliability. The detection device's positioning sensor primarily uses a high-precision RTK-GPS positioning module and a nine-axis inertial navigation IMU for fusion positioning. RTK-GPS positioning data and IMU data can be fused and corrected to achieve high-precision positioning. The application of high-bandwidth, high-stability 5G communication technology improves the efficiency and accuracy of information exchange.

[0019] 2. The amphibious hydropower station dam defect detection device adopts a shaft universal joint structure, which enables the device to navigate smoothly in different media such as water and air. At the same time, the device integrates detection methods from different fields, namely sonar imaging, infrared high-definition camera imaging and binocular camera imaging, to achieve high-precision detection. It uses a high-precision RTK-GPS positioning module and a nine-axis inertial navigation IMU for fusion positioning, realizing real-time high-precision positioning during operation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0021] Figure 1 This is a schematic diagram of a defect detection device for an amphibious hydropower station dam according to the present invention;

[0022] Figure 2 This is a cross-sectional view of the present invention;

[0023] Figure 3 This is a schematic diagram of the universal joint structure of this utility model. Figure 1 ;

[0024] Figure 4 This is a schematic diagram of the water tank installation of this utility model;

[0025] Figure 5 This is a schematic diagram of the universal joint structure of this utility model. Figure 2 ;

[0026] Figure 6 This is a schematic diagram of the submersion of this utility model. Figure 1 ;

[0027] Figure 7 This is a schematic diagram of the submersion of this utility model. Figure 2 .

[0028] In the diagram: 1-device support frame, 2-lower fuselage main body, 3-brushless motor, 4-rear wing, 5-propeller, 6-buoy cable box, 7-fuselage cover, 8-front wing, 9-front wing limiter, 10-upper fuselage main body, 11-roll motor, 12-horizontal joint, 13-sonar module, 14-infrared high-definition camera, 15-buoy, 16-rear wing limiter, 17-horizontal motor, 18-binocular camera, 19-roll joint, 20-battery, 21-water tank, 22-water pump, 23-first bearing housing, 24-universal joint third fork, 25-second bearing housing, 26-sub-cross shaft, 27-universal joint second fork, 28-universal joint first fork, 29-main cross shaft, 30-servo motor, 31-first bearing. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0031] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0034] Please see Figures 1-7 As shown, this utility model provides a defect detection device for an amphibious hydroelectric power station dam, including a housing. Multiple wings are rotatably mounted on the housing. A brushless motor 3 is mounted on the end of each wing furthest from the housing. The output end of the brushless motor 3 is connected to a propeller 5. The housing contains the same number of servo motors 30 as the wings. Each servo motor 30 has its output end connected to a universal joint, and the universal joints are connected to the wings one-to-one. The housing also contains a controller, a battery 20, a water tank 21, and a water pump 22. The water pump 22 is connected to the water tank 21. The housing has a water inlet for the water pump 22 to communicate with the outside. A detection device is mounted on the housing. The brushless motors 3, the servo motors 30, the water pump 22, and the detection device are all connected to the controller. A device support frame 1 is mounted on the housing to support it. The fuselage includes a lower fuselage body 2, an upper fuselage body 10, and a cover 7. The upper fuselage body 10 is mounted above the lower fuselage body 2, and the upper fuselage body 10 and the lower fuselage body 2 are internally connected. The cover 7 is installed at the top opening of the upper fuselage body 10. The wings include two front wings 8 and two rear wings 4. There are two front wings 8 installed on the left and right sides at the front of the fuselage, and there are two rear wings 4 installed on the left and right sides at the rear of the fuselage.

[0035] The amphibious hydroelectric power station dam defect detection device consists of an upper fuselage, a lower fuselage, a canopy, a fuselage support frame, a gimbal, a binocular camera, a sonar module, buoys, buoy coils, a domain switching servo bearing housing, a micro servo, a universal joint, a front wing, a rear wing, a propeller, a water tank, and a water pump. The tails of the front and rear wings pass through limiting rings and are nested into the upper part of the fuselage. The universal joint includes a first universal joint fork, a second bidirectional universal joint fork, and a third universal joint fork. The upper fuselage contains four 6700ZZ bearing housings, through which the tails of the front and rear wings pass and are fixed to the upper fuselage. The tail of the first universal joint fork is inserted into the tails of the front and rear wings, and a cylindrical pin is inserted from the side to fix the wings to the first universal joint fork. The first and second universal joint forks are connected by a cross shaft. The second and third forks are connected by the same cross axle, and the tail of the third fork passes through an MR106ZZ bearing fixed to the upper fuselage and is connected to a micro servo motor. The water tank and water pump are installed on the lower fuselage. When the device descends, the water pump draws water into the tank to accelerate the descent in conjunction with the wings. When the device ascends, the water pump draws water outward to give the device greater buoyancy, which, in conjunction with the wing rotation, enables rapid ascent. The lower fuselage houses a sonar and a three-axis gimbal. Optical DaBai DCW2 binocular cameras, infrared cameras, and sonar imaging constitute an acoustic-optical fusion detection technology, enhancing the reliability of the defect detection equipment. By comparing with existing UAV frame structures, the defect detection device's fuselage is streamlined to meet fluid dynamics and aerodynamic requirements. The main frame structure of the defect detection device is studied, and its shape is designed to conform to aerodynamics and fluid dynamics. Streamlining the fuselage improves endurance while reducing the impact of fuselage drag on the device's stability during operation. A double cross-shaft universal joint transmission mechanism is used as the transmission structure for switching flight modes between water and air. A quadcopter connecting shaft stabilization structure is designed so that the wings can remain stable when the fuselage switches flight modes, and can stably switch operating modes between water and air.

[0036] The detection device includes a sonar module 13, an infrared high-definition camera 14, and a binocular camera 18. A horizontal motor 17 is located at the bottom of the housing. The output of the horizontal motor 17 is connected to a horizontal joint 12. A roll motor 11 is mounted on the horizontal joint 12. The output of the roll motor 11 is connected to a roll joint 19. The binocular camera 18 is mounted on the roll joint 19. The sonar module 13 is mounted at the bottom of the housing, and the infrared high-definition camera 14 is mounted on the upper side of the housing. Considering the need for precise positioning in different media such as water and air, a high-precision RTK-GPS positioning module and a nine-axis inertial navigation IMU are used for fusion positioning, significantly improving the positioning accuracy required during operation. Simultaneously, considering the main application scenarios of the defect detection device, it needs a powerful defect detection system to identify different types of defects. The defect detection device is planned to use a combination of DaBai DCW2 binocular camera imaging and sonar imaging, improving detection accuracy by fusing the two types of detection data. The communication component will utilize a 5G communication module and the RTSP audio / video streaming protocol for remote control of the unmanned equipment and transmission of video and audio data. The gimbal's mechanical structure will be optimized, adopting a three-axis gimbal design to provide greater freedom of movement for the binocular cameras and expand the monitoring range.

[0037] The hardware control system is mainly divided into various hardware modules, data fusion, and drive control parts, which are used to realize the robot's self-positioning and control. 1. The robot positioning sensor mainly uses a high-precision RTK-GPS positioning module and a nine-axis inertial navigation IMU for fusion positioning. The RTK-GPS positioning module data can be used directly after parsing. The IMU inertial navigation device uses the Yabo Intelligent nine-axis inertial navigation module ARHS. After obtaining its initial position, it continuously measures the robot's acceleration in the world coordinate system. The motion trajectory and current position can be obtained by integrating twice over time. However, because it has measurement errors and the errors are easy to accumulate, the RTK-GPS positioning data and IMU data can be fused and corrected to achieve high-precision positioning function. 2. The robot measurement is mainly carried out using optical cameras and underwater sonar; (1) The camera uses the DaBai DCW2 binocular camera. In terms of structural design, the binocular camera has a wider field of view. At the same time, its algorithm difficulty in 3D imaging is lower than that of monocular imaging, and the imaging effect is better. The binocular camera mainly consists of a left infrared camera, a right infrared camera, a laser projection module, and a depth calculation processor. The depth calculation processor executes the depth calculation algorithm, performs left and right matching calculations on the light map direction, obtains pixel parallax, and then uses the triangulation principle to calculate the depth. (2) Sonar imaging is similar to lidar, generating images by collecting the distribution of echo time. The propagation speed of water waves underwater is known, so by measuring the time difference between sound wave emission and reception, the distance between the obstacle and the robot can be calculated. The sonar receives various echoes, confirms the shape of the object based on the echo characteristics, and discovers defects on the surface of the dam after imaging.

[0038] In one embodiment, the housing contains a first bearing seat 23 and a second bearing seat 25. A second bearing is mounted on the second bearing seat 25. The wing passes through the housing and connects to the second bearing. The wing is connected to the first universal joint fork 28 via a cylindrical pin. The first universal joint fork 28 and the second universal joint fork 27 are connected via a main cross shaft 29. The second universal joint fork 27 and the third universal joint fork 24 are connected via a sub-cross shaft 26. A first bearing 31 is mounted on the first bearing seat 23. The third universal joint fork 24 is connected to the first bearing 31 and the servo motor 30. The housing contains a positioning assembly and a wireless communication assembly. A buoy cable box 6 and a buoy 15 are mounted on the housing. The buoy cable box 6 contains a communication cable, one end of which is connected to the buoy 15, and the other end is connected to the controller. The communication cable is manually placed into the buoy cable box 6, with the buoy 15 hanging outside. The buoy 15 is not used during flight testing. During underwater testing, the buoy 15 rises due to buoyancy, pulling the communication cable, which then slides out of the buoy cable box 6, improving communication quality. After underwater testing, the cable is manually retrieved, or a cylinder can be set up around which the communication cable is wound. An electric mechanism can be used to secure the buoy 15 or the communication cable, preventing the cable from slipping out during flight. Upon descent, the controller controls the electric mechanism to release the buoy 15 or the communication cable, allowing the cable to slide out and placing the buoy 15 on the water surface. It should be further noted that any other components used to achieve the above effects should fall within the inventive concept of this utility model and its protection scope. Example

[0039] The amphibious hydroelectric power station dam defect detection device consists of an upper fuselage body 10, a lower fuselage body 2, a cover 7, a device support frame 1, a gimbal, a binocular camera 18, an infrared high-definition camera 14, a sonar module 13, a buoy 15, a buoy coil 6, a 6700ZZ bearing seat, an MR106ZZ vertical bearing seat, a micro servo motor 30, a shaft universal joint, a brushless motor 3, a front wing 8, a rear wing 4, a propeller 5, a limit switch, a water tank 21, and a water pump 22.

[0040] The main body of the device consists of an upper body 10, a lower body 2, a cover 7, and a device support frame 1.

[0041] Wing section: The front wing limiter 9 is nested into the middle section of the wing from the tail of the front wing 8, and the rear wing limiter 16 is nested into the middle section of the wing from the tail of the rear wing 4. The brushless motor 3 is installed in the reserved mounting slots of the front wing 8 and the rear wing 4, and the two pairs of propellers 5 are inserted into the brushless motor.

[0042] Domain conversion section: The front wing 8 and rear wing 4 are nested into the reserved holes in the upper fuselage body 10, and the tail of the wing passes through the 6700ZZ bearing seat (second bearing seat 25) fixed in the upper fuselage body 10, completing the fixation of the wing to the upper fuselage body 10. The tail 28 of the first fork of the universal joint is inserted into the tail of the front wing 8 and the rear wing 4, and a cylindrical pin is inserted from the side to fix the wing to the first fork of the universal joint 28. The first fork of the universal joint 28 and the second fork 27 are connected by the main cross shaft 29, and the second fork 27 and the third fork 24 are connected by the sub cross shaft 26. The tail of the third fork of the universal joint 24 passes through the MR106ZZ bearing (first bearing 31) fixed in the upper fuselage body 10 and is connected to the micro servo 30.

[0043] Communication section: A communication buoy 15 is attached to the tail of the upper fuselage. The communication cable is placed in the buoy cable box 6 and fixed to the top of the cover 7.

[0044] Gimbal section: The horizontal motor of the gimbal is fixed to the bottom of the lower body. The horizontal joint 12 is nested outside the horizontal motor 17. The tail of the horizontal joint 12 is equipped with a roll motor 11. The roll joint 19 is nested outside the roll motor 11. The tail of the roll joint 19 is equipped with a pitch motor. The binocular camera 18 is nested outside the pitch motor.

[0045] Underwater auxiliary pressure regulation section: The underwater auxiliary pressure regulation section consists of a water tank 21 and a water pump 22, which are fixed inside the lower fuselage body 2. The model aircraft lithium battery 20 is installed inside the lower fuselage body 2 to provide power for the underwater auxiliary pressure regulation module and the aircraft navigation.

[0046] Working principle:

[0047] The model aircraft lithium battery 20 installed inside the lower fuselage body 2 provides power for the aircraft's flight.

[0048] During the aerial defect detection phase, four brushless motors installed in the reserved slots of the front wing 8 and rear wing 4 rotate, driving the propeller 5 to rotate and provide lift for the device. The binocular camera 18 installed on the three-axis gimbal and the infrared high-definition camera 14 fixed on the outside of the upper fuselage work together in the defect detection device. The dam body defect detection device scans and records defects of the hydropower station dam body exposed on the water surface according to the predetermined flight route, and transmits the recorded results to the detection data processing platform.

[0049] During the underwater defect detection phase, the dam defect detection device of the hydropower station lowers its flight altitude and approaches the water surface. When it gets close to the water surface, the four micro servo motors 30 fixed in the upper fuselage rotate, driving the third section fork 24 of the shaft universal joint to rotate. This causes the sub-cross shaft 26 installed in the third section fork 24 to rotate with the fork. One end of the second section fork 27 of the universal joint is connected to the sub-cross shaft 26 and rotates with the sub-cross shaft 26. The other end is connected to the main cross shaft 29. The main cross shaft 29 rotates with the second section fork 27 of the universal joint and drives the first section fork 28 of the universal joint connected to it to rotate as well. The tail of the wing is connected to the first section fork 28 of the universal joint through a cylindrical pin. When the first section fork 28 of the universal joint rotates, it drives the front wing 8 and the rear wing 4 to rotate, causing the propeller 5, which was originally facing upward, to change its orientation to downward. At this time, propeller 5 rotates, providing descent potential for the fuselage. Water pump 22 in the auxiliary pressure regulating module injects water into water tank 21 to balance the underwater pressure, assisting propeller 5 in completing the device's descent. Sonar imaging device 13, fixed to the bottom of the lower fuselage, scans and records defects in the underwater portion of the hydroelectric dam. The collected data is transmitted via communication cable 6 to buoy 15 on the water surface, and further transmitted to the detection data processing platform. By comparing the data with defect types in the database, the dam defect type is identified, completing one dam defect detection operation.

[0050] The defect detection device smoothly transitions between different media, including water and air, significantly reducing the cost of defect detection in hydropower stations and improving its safety and reliability. The application of 3D sonar imaging, combined with the fusion imaging of the DaBai DCW2 binocular camera and a high-definition infrared camera, solves the problems of low accuracy and limited variety in ordinary visual defect identification. It improves perception accuracy and stability in complex mountain and valley environments, addressing the safety issues associated with manual defect detection in hydropower stations. The axial universal joint structure design allows the detection device to smoothly transition between different media, further reducing the cost of defect detection. The three-axis gimbal gives the DaBai DCW2 binocular camera three degrees of freedom, enabling wider-range and higher-precision detection. Through rigorous system integration design, multiple systems are modularized and rationally arranged to improve flight stability and system reliability. The device's positioning sensor primarily uses a high-precision RTK-GPS positioning module fused with a nine-axis inertial navigation IMU for positioning. The RTK-GPS positioning data and IMU data can be fused and corrected to achieve high-precision positioning. The application of high-bandwidth, high-stability 5G communication technology improves the efficiency and accuracy of information exchange.

[0051] Although the embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this utility model. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A defect detection device for amphibious hydroelectric power station dams, characterized in that: The device includes a housing, on which multiple wings are rotatably mounted. A brushless motor (3) is mounted on the end of each wing away from the housing. The output end of the brushless motor (3) is connected to a propeller (5). The housing contains the same number of servo motors (30) as the wings. Each servo motor (30) has a universal joint connected to its output end. The universal joints are connected to the wings one by one. The housing contains a controller, a battery (20), a water tank (21), and a water pump (22). The water pump (22) is connected to the water tank (21). The housing has a water inlet for the water pump (22) to communicate with the outside. The housing is equipped with a detection device. The brushless motor (3), the servo motor (30), the water pump (22), and the detection device are all connected to the controller.

2. The amphibious hydropower station dam defect detection device according to claim 1, characterized in that: A device support frame (1) is installed on the housing, and the device support frame (1) is used to support the housing.

3. The amphibious hydropower station dam defect detection device according to claim 1, characterized in that: The casing includes a lower fuselage body (2), an upper fuselage body (10), and a cover (7). The upper fuselage body (10) is installed above the lower fuselage body (2). The upper fuselage body (10) and the lower fuselage body (2) are internally connected. The cover (7) is installed at the top opening of the upper fuselage body (10).

4. The amphibious hydropower station dam defect detection device according to claim 1, characterized in that: The wing includes a front wing (8) and a rear wing (4). There are two front wings (8) installed on the left and right sides in front of the fuselage, and there are two rear wings (4) installed on the left and right sides behind the fuselage.

5. The amphibious hydropower station dam defect detection device according to claim 1, characterized in that: The detection device includes a sonar module (13), an infrared high-definition camera (14), and a binocular camera (18).

6. The amphibious hydropower station dam defect detection device according to claim 5, characterized in that: A horizontal motor (17) is provided at the bottom of the housing. The output end of the horizontal motor (17) is connected to a horizontal joint (12). A rolling motor (11) is installed on the horizontal joint (12). The output end of the rolling motor (11) is connected to a rolling joint (19). The binocular camera (18) is installed on the rolling joint (19). The sonar module (13) is installed at the bottom of the housing. The infrared high-definition camera (14) is installed on the upper side of the housing.

7. The amphibious hydropower station dam defect detection device according to claim 1, characterized in that: The housing is provided with a first bearing seat (23) and a second bearing seat (25). The second bearing seat (25) is provided with a second bearing. The wing passes through the housing and is connected to the second bearing. The wing is connected to the first universal joint fork (28) by a cylindrical pin. The first universal joint fork (28) and the second universal joint fork (27) are connected by a main cross shaft (29). The second universal joint fork (27) and the third universal joint fork (24) are connected by a sub-cross shaft (26). The first bearing seat (23) is provided with a first bearing (31). The third universal joint fork (24) is connected to the first bearing (31) and the servo motor (30).

8. The amphibious hydropower station dam defect detection device according to claim 1, characterized in that: The housing contains a positioning component and a wireless communication component.

9. The amphibious hydropower station dam defect detection device according to claim 1, characterized in that: The housing is equipped with a buoy cable box (6) and a buoy (15). The buoy cable box (6) contains a communication cable. One end of the communication cable is connected to the buoy (15), and the other end is connected to the controller.

Images