Crack detection and repair system

Abstract

The utility model discloses a crack detection and repair system, the system comprises a visual operating system and an underwater robot, the underwater robot comprises a bearing plate, and a power assembly, a camera assembly, a detection assembly, a crack repair assembly and a control circuit which are arranged in corresponding areas of the bearing plate; the detection assembly comprises a desilting head and an ink jet head which are arranged at the corresponding lowering positions of the bearing plate, and the ink jet head is connected with the corresponding ink storage box. The crack sealing unit comprises a roller structure arranged at the corresponding position below the bearing plate, a sealing adhesive tape is arranged on the surface of the roller structure, and the roller structure attaches the sealing adhesive tape to the surface of the crack in a rotating state; the crack grouting repair unit comprises a high polymer spray head arranged in a corresponding area below the bearing plate and a micro grouting machine arranged in a corresponding position above the bearing plate, and the high polymer spray head is communicated with the micro grouting machine. The utility model aims to improve the processing efficiency of underwater concrete crack detection and repair.

Description

Technical Field

[0001] This utility model relates to the field of concrete structure repair technology, and in particular to a crack detection and repair system. Background Technology

[0002] Currently, with the long-term operation of domestic water conservancy and hydropower facilities, underwater concrete structures are subjected to water pressure and other factors for extended periods, frequently resulting in various cracks and serious leakage problems, severely impacting their service life. Existing repair measures primarily involve underwater repairs using divers, which poses significant safety hazards, and is unsuitable for underwater repairs in some dangerous and complex underwater areas.

[0003] A utility model patent with publication number CN118032795A discloses a concrete crack detection system for pumped storage power station reservoirs. This system includes a mounting bracket, an image acquisition device, and a vehicle body. A sprayer is attached to the top of the mounting bracket, a spray cylinder is mounted on one side of the sprayer, and a connecting shaft is mounted on the other end of the sprayer. A spray pipe is connected to the end of the connecting shaft, and a nozzle is mounted at the top of the spray pipe. The image acquisition device is mounted in the vehicle body. While this system achieves crack identification through automation and remote control technology, reducing the risks and complexity of manual underwater operations, it only addresses crack identification. Further crack treatment requires integration with other equipment, resulting in low efficiency in treating concrete cracks. Utility Model Content

[0004] The main purpose of this invention is to provide a crack detection and repair system, which aims to solve the technical problem of low efficiency in existing underwater robot crack detection and repair.

[0005] To achieve the above objectives, this utility model provides a crack detection and repair system, wherein the system includes a visual operating system and an underwater robot. The underwater robot includes a support plate and a power component, a camera component, a detection component, a crack repair component, and a control circuit disposed in a corresponding area of ​​the support plate. A frame is disposed on the surface of the support plate, and the corresponding components located on the surface of the support plate are disposed within the frame area.

[0006] The control circuit is used to connect to the external visual operating system of the underwater robot via electrical signals. The power component, camera component, detection component, and crack repair component are also connected to the control circuit via electrical signals.

[0007] The camera component is used to acquire image data obtained by the underwater robot under the drive of the power component and transmit it to the visualization operating system through the control circuit, so that the visualization operating system can analyze the received image data and control the underwater robot to execute corresponding instructions.

[0008] The detection component is used to determine the location of the crack based on the area corresponding to the image data acquired by the camera component under the instructions of the visual operating system, so that the visual operating system controls the crack repair component to perform repair operations.

[0009] The detection component includes a sludge removal head and an inkjet head positioned under the support plate. The inkjet head is used to perform inkjet processing on the suspected crack area so that the visualization operating system can determine the crack location based on the image data after inkjet printing. The inkjet head is connected to the corresponding ink storage cartridge, and the sludge removal head is used to perform sludge removal operation on the area after inkjet printing.

[0010] The crack repair assembly includes a crack sealing unit and a crack grouting repair unit. The crack sealing unit includes a roller structure located at a corresponding position below the bearing plate. The surface of the roller structure is provided with sealing tape. When the roller structure is rotating, the sealing tape is attached to the crack surface.

[0011] The crack grouting repair unit includes a polymer nozzle located in a corresponding area below the bearing plate and a miniature grouting machine located in a corresponding position above the bearing plate. The polymer nozzle is connected to the miniature grouting machine, and the polymer nozzle is used to inject polymer grout into the area where the sealing tape is attached to achieve crack repair.

[0012] Optionally, the sealing tape is further provided with dividing lines perpendicular to the length direction of the sealing tape and at equal intervals, the dividing lines being used to divide the sealing tape into smaller tapes of a preset length.

[0013] Optionally, small-sized tapes between adjacent dividing lines are also provided with grouting holes for polymer nozzle grouting.

[0014] Optionally, the roller structure is connected to the underside of the support plate by two hydraulic rods located at both ends, and the two hydraulic rods are used to control the lifting and lowering of the roller structure.

[0015] Optionally, the power assembly includes multiple wheels disposed below the support plate and multiple propellers disposed on the side of the support plate. The multiple wheels are respectively disposed below the support plate and controlled by corresponding motors. The multiple wheels are used to control the movement of the underwater robot on the plane, and the multiple propellers are used to control the underwater robot's lifting and moving underwater. The multiple wheels and multiple propellers cooperate to control the underwater robot to run according to the target trajectory set by the visual operating system.

[0016] Optionally, the camera assembly includes two main cameras disposed below the edge of the support plate and a bottom camera disposed below the center of the support plate. Image data acquired by the main cameras and / or the bottom camera is transmitted to the visual operating system via a control circuit.

[0017] Optionally, underwater searchlights are also installed near each main control camera.

[0018] Optionally, the ink storage box is installed at a corresponding position above the support plate.

[0019] Optionally, the micro grouting machine includes two storage tanks, a delivery hose, and a peristaltic pump. The two storage tanks are used to store two components of the polymer slurry, and the peristaltic pump is used to alternately squeeze the elastic delivery hose through smooth rollers inside the pump head after being powered on.

[0020] Optionally, the polymer nozzle has a retractable structure.

[0021] Beneficial effects:

[0022] (1) This system enables remote control of underwater robots and underwater crack detection and repair through a visual operating system, thus avoiding the safety hazards of divers going underwater.

[0023] (2) The power unit uses wheels and propellers working together to enable the equipment to move flexibly 360° underwater, and integrates inkjet detection technology and polymer grouting technology on the equipment, realizing the integrated mechanization of underwater crack detection and grouting repair.

[0024] (3) The camera component effectively improves the efficiency of acquiring images of the actual underwater concrete and monitors the grouting repair in real time, so as to know the grouting process and ensure effective feedback during the grouting process.

[0025] (4) The detection component uses inkjet and inkjet-dredging detection to effectively improve the accuracy of crack location and crack sealing settings, achieve sealing during grouting, and ensure that the cracks are not contaminated after cleaning, thereby improving the efficiency of crack repair. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 This is a three-dimensional structural diagram of an embodiment of the underwater robot in the crack detection and repair system of this utility model;

[0028] Figure 2 for Figure 1 The left view;

[0029] Figure 3 This is a schematic diagram of a sealed crack.

[0030] Figure 4 This is a schematic diagram of polymer grouting.

[0031] Explanation of icon numbers:

[0032] label name label name 1 bearing plate 2 wheel 3 underwater searchlight 4 Main camera 5 Roller structure 6 Dredging head 7 inkjet head 8 propeller 9 ink cartridge 10 peristaltic pump 11 Storage tank 12 control circuit 13 frame 14 Bottom camera 15 Polymer grouting head 16 sealing tape 17 Grouting holes 18 Dividing seam 19 linear cracks 20 Hydraulic rod

[0033] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that all directional indicators (such as up, down, etc.) in the embodiments of this utility model 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 indicator will also change accordingly.

[0036] Furthermore, in this utility model, 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. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0037] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of a person 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 this utility model.

[0038] This invention provides a crack repair system, comprising a visual operating system and an underwater robot, wherein the underwater robot is electrically connected to the visual operating system. Figure 1The diagram shows a three-dimensional structural schematic of an underwater robot. The underwater robot includes a support plate 1, and power components, camera components, detection components, crack repair components, and a control circuit 12 disposed in corresponding areas of the support plate 1. The control circuit 12 is electrically connected to an external visual operating system of the underwater robot. The power components, camera components, detection components, and crack repair components are also electrically connected to the control circuit 12. The visual operating system has a display screen, an operation interface, and a processing and analysis module. The operation interface can be physical operation keys or a touchscreen operation interface integrated into the display screen. The processing and analysis module receives image data transmitted by the control circuit 12 of the underwater robot, analyzes it, and feeds it back to the display screen, enabling operators to control the various components of the underwater robot to execute corresponding instructions based on the image information through the operation interface, thereby achieving remote control of the underwater robot's operation.

[0039] Furthermore, the camera component is used to acquire image data obtained by the underwater robot under the drive of the power component and transmit it to the visualization operating system through the control circuit 12, so that the visualization operating system can analyze the received image data and control the underwater robot to execute corresponding instructions; the detection component is used to determine the crack location based on the area corresponding to the image data acquired by the camera component under the instructions of the visualization operating system, so that the visualization operating system can control the crack repair component to perform repair operations;

[0040] Furthermore, the detection component includes a cleaning head 6 and an inkjet head 7 positioned at corresponding locations under the support plate 1. The inkjet head 7 is used to perform inkjet processing on the suspected crack area so that the visualization operating system can determine the crack location based on the image data after inkjet printing. The inkjet head 7 is connected to the corresponding ink storage box 9, and the cleaning head 6 can be energized and rotated. The cleaning head 6 is used to remove silt and other stains from the surface of the crack.

[0041] Furthermore, the crack repair assembly includes a crack sealing unit and a crack grouting repair unit. The crack sealing unit includes a roller structure 5 positioned below the support plate 1, with a sealing tape 16 on its surface. The roller structure 5 adheres the sealing tape to the crack surface during rotation. The crack grouting repair unit includes a polymer nozzle 15 positioned below the support plate 1 and a micro grouting machine positioned above the support plate 1. The polymer nozzle is connected to the micro grouting machine. The polymer nozzle 15 is used to inject polymer grout into the area where the sealing tape is attached to achieve crack repair. Preferably, the polymer nozzle 15 is a retractable structure.

[0042] Furthermore, such as Figure 1As shown, the surface of the support plate 1 is provided with a frame. When the underwater robot needs to be started to work, the towing rope is tied to the frame, thereby realizing the effective recovery of the underwater robot.

[0043] Furthermore, such as Figure 3-4 As shown, the sealing tape 16 is also provided with dividing lines 18 perpendicular to the length direction of the sealing tape and at equal intervals. The dividing lines 18 are used to divide the sealing tape 16 into small-sized tapes of a preset length, so that the tape can be broken after grouting is completed, thereby realizing the control of the required small-sized length of the sealing tape according to the length or shape of the crack.

[0044] Preferably, a grouting hole 17 is provided in the small-sized tape between adjacent dividing lines 18. During grouting repair, the polymer nozzle 15 passes through the grouting hole 17 reserved in the sealing tape 16 and enters the crack, injecting polymer grout into the crack. The setting of the grouting hole can improve the polymer grouting efficiency, thereby improving the repair efficiency.

[0045] Furthermore, such as Figure 1-2 As shown, the power assembly includes multiple wheels 2 disposed below the support plate 1 and multiple propellers 8 on the side of the support plate 1. The multiple wheels 2 are respectively disposed below the support plate 1 and controlled by corresponding motors. The multiple wheels 2 are used to control the movement of the underwater robot on the plane. In this embodiment, at least four wheels in two rows can be arranged below the support plate 1. The multiple propellers 8 are used to control the underwater robot's lifting and movement underwater. The multiple wheels 2 and multiple propellers 8 cooperate to control the underwater robot to run according to the target trajectory set by the visual operating system. Specifically, each wheel 2 and propeller 8 is connected to the support plate 1 through corresponding connectors.

[0046] Furthermore, such as Figure 3 As shown, the roller structure 5 is connected to the underside of the support plate 1 via two hydraulic rods 20 located at both ends. The two hydraulic rods 20 are used to control the lifting and lowering of the roller structure 5, and can extend and retract to provide pressure. Under the pressure of the hydraulic rods, the roller is made more secure when applying tape. Figure 3 In the illustrated embodiment, taking linear crack 19 as an example, as the underwater robot moves forward, the roller rotates accordingly, and the sealing tape 16 adheres tightly to the surface of the linear crack. This pre-sealing of the crack ensures grout sealing during the grouting process, thereby preventing secondary contamination of the cleaned crack.

[0047] Furthermore, such as Figure 1-2As shown, the camera assembly includes two main cameras 4 located below the edge of the support plate 1 and a bottom camera 14 located below the center of the support plate. The image data acquired by the main cameras 4 and / or the bottom camera 14 is transmitted to the visualization operating system through the control circuit 12. Preferably, the main cameras 4 and the bottom camera 14 can also rotate from 0 to 360° to avoid the situation where some blind spots of the underwater concrete cannot be effectively acquired, thereby improving the acquisition efficiency of the actual image of the underwater concrete.

[0048] Furthermore, such as Figure 1 As shown, each main control camera 4 is also equipped with a corresponding underwater searchlight 3. The underwater searchlight 3 is set up to increase the brightness of the images captured by the main control camera 4.

[0049] Furthermore, such as Figure 1 As shown, the ink storage box 9 is installed at a corresponding position above the support plate 1.

[0050] Furthermore, such as Figure 1 As shown, the micro grouting machine includes two storage tanks 11, a delivery hose, and a peristaltic pump 10. The two storage tanks 11 are used to store the two components of the polymer slurry. The peristaltic pump 10 is used to alternately squeeze the elastic delivery hose through the smooth roller inside the pump head after being powered on, thereby forming a negative pressure area in the pipeline, so that the liquid flows to the negative pressure area, thereby achieving the purpose of pumping fluid.

[0051] Furthermore, all of the aforementioned components are waterproofed to extend the service life of the underwater robot.

[0052] Furthermore, to better illustrate the corresponding structure in this embodiment, the specific operation in actual use is as follows:

[0053] (1) When the system needs to be started for operation, the traction rope is tied to the frame 13, and then the underwater robot is placed in the water. The operator remotely controls the robot and starts the power components, including the wheels 2 and the propeller 8. The propeller 8 can realize underwater lifting and movement, and the reaction force of the propeller 8 can make the robot stick to the structure. The wheels 2 can make the robot move on the plane. The wheels 2 and the propeller 8 work together to make the robot move according to the instructions of the visual operating system. The underwater situation is observed based on the image information provided by the camera component, and cracks in the underwater structure are detected.

[0054] (2) Based on the image information provided by the two main control cameras 4 and the two matching underwater searchlights 3, observe the underwater conditions and the cracks in the underwater structures. After discovering a suspected crack area, move the robot to the corresponding position and activate the crack detection component. After the inkjet head 7 descends to a suitable height, turn on the inkjet head 7 to perform inkjet processing on the suspected crack area. The operator determines the crack location based on the leakage situation. Then, lower the sludge removal head 6 to fit the crack surface and activate the sludge removal head 6. The sludge removal head 6 rotates to clean the silt and other stains on the crack surface, thoroughly exposing the crack.

[0055] (3) Figure 3 Once the linear crack 19 is exposed, the operator observes it, activates the crack sealing device, and lowers the roller structure 5. Pressure provided by the hydraulic rod 20 makes the roller 5 more secure when applying the sealing tape. As the underwater robot advances, the roller 5 rotates, and the sealing tape 16 adheres tightly to the surface of the linear crack 19. Grouting holes 17 are pre-set at intervals in the middle of the sealing tape 16. After the sealing tape 16 covers the crack 19, the roller stops rotating, and the robot continues to advance, pulling the sealing tape 16 off along the dividing seam 18.

[0056] (4) Figure 4 After sealing the crack, the operator controls the robot through the visual operating system and moves the robot by transmitting image data from the bottom camera 14. The robot lowers the polymer grouting head 15 and aligns the polymer grouting head 15 with the grouting hole 17 in the middle of the sealing tape 16. The grouting head is inserted into the grouting hole 17 in sequence, and the polymer is injected into the crack. After the polymer grout solidifies, the crack is repaired.

[0057] The above are merely preferred embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural transformations made based on the inventive concept of this utility model and the contents of this utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this utility model.

Claims

1. A crack detection and repair system, characterized in that, The system includes a visual operating system and an underwater robot. The underwater robot includes a support plate (1) and a power component, a camera component, a detection component, a crack repair component and a control circuit (12) disposed in the corresponding area of ​​the support plate (1). A frame is provided on the surface of the support plate (1), and the corresponding components located on the surface of the support plate (1) are all disposed in the frame area. The control circuit (12) is used to connect to the visual operating system external to the underwater robot via electrical signals. The power component, camera component, detection component, and crack repair component are also connected to the control circuit (12) via electrical signals. The camera component is used to acquire image data obtained by the underwater robot under the drive of the power component and transmit it to the visualization operating system through the control circuit (12) so that the visualization operating system can analyze the received image data and control the underwater robot to execute corresponding instructions. The detection component is used to determine the location of the crack based on the area corresponding to the image data acquired by the camera component under the instructions of the visual operating system, so that the visual operating system controls the crack repair component to perform repair operations. The detection component includes a sludge removal head (6) and an inkjet head (7) positioned under the support plate (1). The inkjet head (7) is used to perform inkjet processing on the suspected crack area so that the visualization operating system can determine the crack location based on the image data after inkjet printing. The inkjet head (7) is connected to the corresponding ink storage box (9). The sludge removal head (6) is used to perform sludge removal operation on the area after inkjet printing. The crack repair assembly includes a crack sealing unit and a crack grouting repair unit. The crack sealing unit includes a roller structure (5) located at a corresponding position below the bearing plate (1). The surface of the roller structure (5) is provided with sealing tape (16). The roller structure (5) attaches the sealing tape to the crack surface when rotating. The crack grouting repair unit includes a polymer nozzle (15) located in a corresponding area below the bearing plate (1) and a micro grouting machine located in a corresponding position above the bearing plate (1). The polymer nozzle is connected to the micro grouting machine. The polymer nozzle (15) is used to inject polymer grout into the area where the sealing tape is attached to achieve crack repair.

2. The crack detection and repair system according to claim 1, characterized in that, The sealing tape (16) is also provided with dividing lines (18) perpendicular to the length direction of the sealing tape and at equal intervals. The dividing lines (18) are used to divide the sealing tape (16) into small-sized tapes of a preset length.

3. The crack detection and repair system according to claim 1, characterized in that, Grouting holes (17) for grouting of polymer nozzles (15) are also provided in the small-sized tape between adjacent dividing lines (18).

4. The crack detection and repair system according to any one of claims 1 to 3, characterized in that, The roller structure (5) is connected to the underside of the support plate (1) by two hydraulic rods (20) located at both ends. The two hydraulic rods (20) are used to control the lifting and lowering of the roller structure (5).

5. The crack detection and repair system according to claim 4, characterized in that, The power assembly includes multiple wheels (2) disposed below the support plate (1) and multiple propellers (8) on the side of the support plate (1). The multiple wheels (2) are respectively disposed below the support plate (1) and controlled by corresponding motors. The multiple wheels (2) are used to control the movement of the underwater robot on the plane, and the multiple propellers (8) are used to control the underwater robot's lifting and movement underwater. The multiple wheels (2) and the multiple propellers (8) cooperate to control the underwater robot to run according to the target trajectory set by the visual operating system.

6. The crack detection and repair system according to claim 4, characterized in that, The camera assembly includes two main cameras (4) located below the edge of the support plate (1) and a bottom camera (14) located below the center of the support plate. The image data acquired by the main cameras (4) and / or the bottom camera (14) is transmitted to the visualization operating system through the control circuit (12).

7. The crack detection and repair system according to claim 6, characterized in that, Each main control camera (4) is also equipped with a corresponding underwater searchlight (3).

8. The crack detection and repair system according to claim 1, characterized in that, The ink storage box (9) is installed at the corresponding position above the support plate (1).

9. The crack detection and repair system according to any one of claims 5 to 8, characterized in that, The micro grouting machine includes two storage tanks (11), a delivery hose, and a peristaltic pump (10). The two storage tanks (11) are used to store two components of the polymer slurry. The peristaltic pump (10) is used to alternately squeeze the elastic delivery hose through a smooth roller inside the pump head after being powered on.

10. The crack detection and repair system according to claim 1, characterized in that, The polymer nozzle (15) has a retractable structure.

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