Crack detection and grouting repair system

Abstract

The utility model discloses a crack detection and grouting repair system, which comprises a visual operating system and an underwater robot controlled by the visual operating system, the underwater robot comprises a bearing plate, a multifunctional converter arranged below the edge of the bearing plate, and a power assembly, a camera shooting assembly, a detection assembly, a crack repairing assembly and a control circuit which are arranged in corresponding areas of the bearing plate. The detection assembly comprises an ink jet head arranged on the multifunctional converter, the ink jet head is used for carrying out ink jet treatment on the suspected crack area, and the ink jet head is connected with a corresponding ink storage box; the crack repairing assembly comprises a high polymer spray head arranged on the multifunctional converter and a pinhole grouting head arranged below the base, the high polymer spray head and the pinhole grouting head are communicated with a micro grouting machine, the high polymer spray head is used for narrow crack grouting repairing, and the pinhole grouting head is used for wide crack grouting repairing. The underwater concrete crack detecting and repairing device aims at detecting and repairing cracks of underwater concrete.

Description

Technical Field

[0001] This utility model relates to the field of concrete structure repair technology, and in particular to a crack detection and grouting 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 repair using divers, which poses significant safety hazards, and is unsuitable for underwater repair in some dangerous and complex underwater areas. Furthermore, utility model patent CN111663560A discloses an underwater grouting and sealing system and method using expanded polymers. This system employs expanded polymers for underwater grouting and sealing of offshore platform pile foundations. Two sealing strips are first fixed to the bottom of a sleeve to form a sealed underwater cavity. Expanded polymers are then injected into the cavity, expanding underwater to form a seal. This expanded polymer exhibits excellent rapid bonding properties, effectively blocks seepage channels, provides good leak-stopping results, and boasts strong sealing performance, ensuring that the grouting fluid does not leak out and resisting seawater penetration. While it can provide a sealing effect, it cannot repair cracks and is also affected by water depth. Therefore, there is an urgent need to develop equipment for detecting and grouting repairing cracks in underwater concrete. Utility Model Content

[0003] The main purpose of this invention is to provide a crack detection and grouting repair system, which aims to solve the technical problem that existing devices cannot detect and repair cracks in underwater concrete.

[0004] To achieve the above objectives, this utility model provides a crack detection and grouting repair system, the system comprising a visual operating system and an underwater robot controlled by the visual operating system;

[0005] The underwater robot includes a support plate, a multi-functional converter disposed below the edge of the support plate, and a power component, a camera component, a detection component, a crack repair component, and a control circuit disposed in the corresponding area of ​​the support plate.

[0006] The control circuit is electrically connected to the visualization operating system, and the power component, camera component, detection component, and crack repair component are electrically connected to the control circuit respectively.

[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;

[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 control 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 an inkjet head mounted on a multi-function converter. 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 a corresponding ink reservoir.

[0010] The crack repair assembly includes a polymer nozzle mounted on a multi-functional converter and a pinhole grouting head mounted below a base. The polymer nozzle and the pinhole grouting head are respectively connected to a micro grouting machine. The polymer nozzle is used for grouting repair of narrow cracks, and the pinhole grouting head is used for grouting repair of wide cracks.

[0011] The surface of the bearing plate is also provided with a shell, and a traction ring is provided on the top of the shell.

[0012] Optionally, the detection component further includes a cleaning head disposed on the multi-function converter, the cleaning head being used to clean the area after inkjet printing.

[0013] Optionally, a plurality of rollers are provided below the support plate, and the two ends of the plurality of rollers are connected to one end of the corresponding first hydraulic telescopic rod through corresponding roller connecting rods, and the other end of each first hydraulic telescopic rod is fixed below the support plate.

[0014] Optionally, the pinhole grouting head is installed through the gasket, and a second hydraulic telescopic rod is provided between the gasket and the base. The base is located below the middle of the bearing plate, and the gasket is used to fit against the crack.

[0015] Optionally, the micro grouting machine, ink storage box, and control circuit are all housed within the cavity formed by the outer shell and the surface of the support plate.

[0016] Optionally, the power assembly includes multiple Mecanum wheels and multiple helical stabilizers mounted on the outer shell. The multiple Mecanum wheels are respectively located below the support plate and controlled by corresponding motors. The multiple Mecanum wheels and multiple helical stabilizers cooperate to control the underwater robot to run according to the target trajectory set by the visual operating system.

[0017] Optionally, the camera assembly includes a main camera disposed above the edge of the support plate and a bottom camera disposed below the center of the support plate. Image data acquired by the main camera and / or the bottom camera is transmitted to the visual operating system via a control circuit.

[0018] Optionally, underwater searchlights are also provided on both sides of the main control camera.

[0019] Optionally, the pinhole grouting head is connected to the micro grouting machine in sequence through a telescopic grouting pipe and a polymer transmission pipe, and the polymer nozzle is connected to the micro grouting machine through the polymer transmission pipe.

[0020] Optionally, the multi-functional converter is rotatable and integrated with the inkjet head, sludge removal head, and polymer printhead in a single installation.

[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 adopts a Mecanum wheel, which can make the equipment move flexibly 360° underwater. It 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, thereby improving the work 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 underwater robot in one embodiment of a crack detection and grouting repair system according to the present invention;

[0028] Figure 2 for Figure 1 Top view of the structure shown

[0029] Figure 3 for Figure 1 Left view of the structure shown;

[0030] Figure 4 for Figure 1 Front view of the structure shown;

[0031] Figure 5 for Figure 1 An internal schematic diagram of the structure shown;

[0032] Figure 6 A schematic diagram of the relevant structures for inkjet testing and coating compaction;

[0033] Figure 7 This is a schematic diagram of the relevant structure for grouting repair using a pinhole grouting head.

[0034] Explanation of icon numbers:

[0035] label name label name 1 bearing plate 2 shell 3 Mecanum Wheel 4 Spiral stabilizer 5 Main camera 6 underwater searchlight 7 Bottom camera 8 inkjet head 9 Dredging head 10 Multi-function converter 11 polymer nozzles 12 roller 13 Roller connecting rod 14 First hydraulic telescopic rod 15 Second hydraulic telescopic rod 16 gasket 17 Telescopic grouting pipe 18 Pinhole grouting head 19 base 20 Miniature grouting machine 21 Transmission pipeline 22 ink cartridge 23 control circuit 24 Traction ring 25 Narrow Crack 26 Wide crack

[0036] 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

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] See Figures 1 to 7 This utility model provides a structural schematic diagram of an embodiment of a crack detection and grouting repair system. The system includes a visual operating system and an underwater robot controlled by the visual operating system. Specifically, as shown... Figure 1The diagram shows a three-dimensional structure of an underwater robot. The underwater robot includes a support plate 1, a multi-functional converter 10 located below the edge of the support plate 1, and a power unit, a camera unit, a detection unit, a crack repair unit, and a control circuit 23 located in corresponding areas of the support plate 1. The control circuit 23 is electrically connected to the visualization operating system, and the power unit, camera unit, detection unit, and crack repair unit are also electrically connected to the control circuit 23. The camera unit acquires image data obtained by the underwater robot under the drive of the power unit and transmits it to the visualization operating system via the control circuit 23. The detection unit, under the control of the visualization operating system, determines the crack location based on the area corresponding to the image data acquired by the camera unit, so that the visualization operating system controls the crack repair unit to perform repair operations. The visual operating system has a display screen, an operation interface, and a processing and analysis module. The operation interface can be a physical operation key or a touch screen operation interface integrated into the display screen. The processing and analysis module is used to receive image data transmitted by the control circuit 23 of the underwater robot, analyze it, and feed it back to the display screen, so that the operator can control the various components in the underwater robot to perform corresponding operations through the operation interface according to the image situation, thereby realizing remote control of the underwater robot operation.

[0042] Furthermore, such as Figure 2 As shown, the surface of the support plate 1 is provided with a shell 2, and the top of the shell 2 is provided with a traction ring 24. When it is necessary to start the underwater robot to work, the traction rope is tied to the traction ring 24, thereby realizing the effective recovery of the underwater robot.

[0043] Furthermore, the power assembly includes multiple Mecanum wheels 3 and multiple helical stabilizers 4 mounted on the outer shell 2. The multiple Mecanum wheels 3 are respectively positioned below the support plate 1 and controlled by corresponding motors. Each motor is electrically connected to the control circuit 23. The multiple Mecanum wheels 3 and the multiple helical stabilizers 4 cooperate to control the underwater robot to run according to the target trajectory set by the visual operating system. Preferably, the power unit uses four Mecanum wheels 3 and four helical stabilizers 4 mounted on the outer shell 2. That is, the Mecanum wheels 3 are divided into two left-handed wheels and two right-handed wheels. The two left-handed wheels are mounted on the left rear and right front of the support plate 1, and the two right-handed wheels are mounted on the right rear and left front, and are controlled by four motors respectively. Details are as follows... Figure 2 As shown, four helical stabilizers 4 are welded to the four positions of the outer shell 2, enabling the underwater robot to maintain stability by relying on the reaction force of the water flow generated by the rotation of the propellers and keeping the device close to the structure. Among them, the Mecanum wheel allows the underwater robot to move flexibly 360° underwater, thus avoiding the safety hazards of divers operating underwater.

[0044] Furthermore, the detection component includes an inkjet head 8 disposed on the multi-function converter 10. The inkjet head 8 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 8 is connected to a corresponding ink reservoir 22. The ink reservoir 22 is disposed in the cavity formed by the outer shell 2 and the surface of the support plate 1, and the ink reservoir 22 is fixed above the support plate 1 by screws. The inkjet head 8 and the ink reservoir 22 are connected by an ink delivery pipe.

[0045] Furthermore, the crack repair assembly includes a polymer nozzle 11 mounted on the multi-functional converter 10 and a pinhole grouting head 18 mounted below the base 19. The polymer nozzle 11 and pinhole grouting head 18 are respectively connected to a micro grouting machine 20, which is located within a cavity formed by the outer shell 2 and the surface of the support plate 1. The polymer nozzle 11 is used for grouting repair of narrow cracks, and the pinhole grouting head 18 is used for grouting repair of wide cracks. The main shaft of the multi-functional converter 10 is fixed to the lower edge of the support plate 1 by screws. Preferably, the multi-functional converter 10 is mounted on the main control camera 5. The multi-functional converter 10 is rotatable and integrates the inkjet head 8 and the polymer nozzle 11. The rotation of the multi-functional converter 10 controls the inkjet head 8 or the polymer nozzle 11 to perform corresponding operations, effectively reducing the number of components and achieving integrated crack detection and grouting repair.

[0046] Furthermore, such as Figure 4 As shown, the camera assembly includes a main camera 5 positioned above the edge of the support plate 1 and a bottom camera 7 positioned below the center of the support plate 1. Image data acquired by the main camera 5 and / or the bottom camera 7 is transmitted to the visualization operating system via the control circuit 23. Preferably, an underwater searchlight 6 is fixed to each side of the main camera 5 with screws to meet underwater lighting requirements. Additionally, corresponding lights can be installed near the bottom camera 7 as needed to improve the brightness of the acquired images. Both the main camera 5 and the bottom camera 7 are fixed to corresponding areas of the support plate with screws. The main camera 5 observes the situation in front of the machinery and the working conditions of dredging, inkjet printing, spraying, and compaction repair of cracks. The bottom camera 7 observes the crack condition and the connection between the pinholes and the cracks, monitoring the grouting work for sealing the pinholes.

[0047] Preferably, the camera 5 and the bottom camera 7 can also rotate from 0 to 360°, thereby avoiding the situation where some blind spots of underwater concrete cannot be effectively acquired, thus improving the efficiency of acquiring actual images of underwater concrete.

[0048] Furthermore, such as Figure 4As shown, the detection component also includes a cleaning head 9 disposed on the multi-functional converter 10. The cleaning head 9 is used to clean the area after inkjet printing. Preferably, the cleaning head 9 is an electrically rotatable cleaning head with multiple brush heads at its end, thereby enabling rotational cleaning of the target area and improving the accuracy of determining the crack location. Preferably, the cleaning head 9 can also be integrated into the multi-functional converter 10.

[0049] Furthermore, such as Figure 6 As shown, multiple rollers 12 are also provided below the edge of the bearing plate 1. The two ends of the multiple rollers 12 are connected to one end of the corresponding first hydraulic telescopic rod 14 through the corresponding roller connecting rod 13. The other end of each first hydraulic telescopic rod 14 is fixed below the bearing plate 1, so that the operation of the first hydraulic telescopic rod 14 drives the multiple rollers 12. In practical applications, the operation of the rollers is combined with the grouting repair of the polymer nozzle. That is, the multi-functional converter 10 is adjusted to the polymer spray head 11, so that it extends and sprays polymer material at the narrow crack 25. At this time, the first hydraulic telescopic rod 14 is controlled to extend, so that the rollers 12 descend and are rolled and flattened by the rollers 12. The first hydraulic telescopic rod 14 provides appropriate pressure for the rollers 12 to roll and flatten, so as to achieve the rolling treatment of the crack area and improve the spraying repair effect. Preferably, the three parallel circular rollers 12 are connected on both sides by roller connecting rods 13, and three central shafts are fixed on the roller connecting rods 13 by screws. The three rollers 12 are fitted on the three central shafts and welded to the underside of the support plate 1 by hydraulic telescopic rods 14.

[0050] Furthermore, such as Figure 3 As shown in Figure 7, the pinhole grouting head 18 is installed through the gasket 16. A second hydraulic telescopic rod 15 is provided between the gasket 16 and the base 19. The base 19 is located below the middle of the support plate 1. The gasket 16 is used to seal and fit against the crack. In actual application, for wider cracks, the position of the pinhole grouting head 18 is adjusted by the bottom camera 7 so that the pinhole grouting head 18 enters the wide crack 26. The second hydraulic telescopic rod 15 is extended to tightly fit the gasket 16 against the wide crack 26 to seal it. Finally, polymer is injected into the wide crack 26.

[0051] Furthermore, such as Figure 5 As shown, the control circuit 23 is housed in the cavity formed by the outer shell 2 and the surface of the support plate 1. The control circuit 23 is waterproof and sealed to ensure normal operation underwater, providing power and controlling the corresponding components.

[0052] Furthermore, such as Figure 3 , Figure 5As shown, the pinhole grouting head 18 is connected to the micro grouting machine 20 in sequence through the telescopic grouting pipe 17 and the polymer transmission pipe. The polymer nozzle 11 is connected to the micro grouting machine 20 through the polymer transmission pipe. That is, the polymer nozzle 11 and the pinhole grouting head 18 are connected to the micro grouting machine 20 through the same polymer transmission pipe, and the appropriate polymer repair method is selected according to the crack width.

[0053] Furthermore, such as Figure 5 As shown, both the polymer delivery pipe and the ink delivery pipe are integrated in the transmission pipe 21.

[0054] In the above embodiments, those skilled in the art can use existing technology for software control. This utility model only protects the structure of a crack detection and grouting repair system and the interconnections between them.

[0055] Furthermore, to better illustrate the corresponding structure in this embodiment, the specific operation in actual use is as follows:

[0056] (1) When the system needs to be started to work, the traction rope is tied to the traction ring 24, and then the underwater robot is placed in the water. The operator remotely controls the robot and starts the power components, including the Mecanum wheel 3 and the spiral stabilizer 4. The Mecanum wheel 3 can move freely and flexibly 360° underwater. The propeller of the spiral stabilizer 4 rotates to generate water flow reaction force, so that the robot can stably stick to the underwater structure.

[0057] (2) Observe the underwater situation through the main control camera 5 and two underwater searchlights 6. After discovering a suspected crack area, start the detection component to detect it. Adjust the multi-function converter 10 to the retractable inkjet head 8 to spray ink on the suspected crack area. The operator locates the crack based on the leakage situation. Start the dredging operation. Adjust the multi-function converter 10 to the dredging head 9. After the dredging head 9 descends and fits against the crack surface, it is powered on and rotated to dredge the crack location and expose the crack.

[0058] (3) Once a crack is exposed, the operator observes the crack width through the water surface control system. For narrower cracks, such as... Figure 6 As shown, the multi-functional converter 10 is adjusted to the polymer spray head 11, which extends and sprays polymer material onto the narrow crack 25. At this time, the first hydraulic telescopic rod 14 extends, causing the roller 12 to descend and be used to flatten and compact the material. The hydraulic telescopic rod 14 provides appropriate pressure for the roller 12 to compact the material. For wider cracks, such as... Figure 7 As shown, the position of the pinhole grouting head 18 is adjusted by the bottom camera 7 so that the pinhole grouting head 18 enters the wide crack 26. The second hydraulic telescopic rod 15 is extended to tightly fit the gasket 16 with the wide crack 26 to seal it. Finally, polymer is injected into the wide crack 26.

[0059] 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 grouting repair system, characterized in that, The system includes a visual operating system and an underwater robot controlled by the visual operating system; The underwater robot includes a support plate (1), a multi-functional converter (10) disposed below the edge of the support plate (1), and a power component, a camera component, a detection component, a crack repair component, and a control circuit (23) disposed in the corresponding area of ​​the support plate (1). The control circuit (23) is electrically connected to the visualization operating system, and the power component, camera component, detection component, and crack repair component are electrically connected to the control circuit (23) respectively. 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 (23); 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 control of the visual operating system, so that the visual operating system controls the crack repair component to perform repair operations. The detection component includes an inkjet head (8) mounted on a multi-function converter (10). The inkjet head (8) 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 (8) is connected to the corresponding ink reservoir (22). The crack repair assembly includes a polymer nozzle (11) mounted on a multi-functional converter (10) and a pinhole grouting head (18) mounted below a base (19). The polymer nozzle (11) and the pinhole grouting head (18) are respectively connected to a micro grouting machine (20). The polymer nozzle (11) is used for grouting repair of narrow cracks, and the pinhole grouting head (18) is used for grouting repair of wide cracks. The surface of the bearing plate (1) is also provided with a shell (2), and a traction ring (24) is provided on the top of the shell (2).

2. The crack detection and grouting repair system according to claim 1, characterized in that, The detection component also includes a cleaning head (9) disposed on the multi-functional converter (10), the cleaning head (9) being used to clean the area after inkjet printing.

3. The crack detection and grouting repair system according to claim 2, characterized in that, Multiple rollers (12) are also provided below the edge of the bearing plate (1). The two ends of the multiple rollers (12) are connected to one end of the corresponding first hydraulic telescopic rod (14) through the corresponding roller connecting rod (13). The other end of each first hydraulic telescopic rod (14) is fixed below the bearing plate (1).

4. The crack detection and grouting repair system according to claim 1, characterized in that, The pinhole grouting head (18) is installed through the gasket (16). A second hydraulic telescopic rod (15) is provided between the gasket (16) and the base (19). The base (19) is located below the middle of the bearing plate (1). The gasket (16) is used to fit against the crack.

5. The crack detection and grouting repair system according to any one of claims 1 to 4, characterized in that, The micro grouting machine (20), ink storage box (22), and control circuit (23) are all located in the cavity formed by the outer shell (2) and the surface of the support plate (1).

6. The crack detection and grouting repair system according to claim 5, characterized in that, The power assembly includes multiple Mecanum wheels (3) and multiple spiral stabilizers (4) mounted on the outer shell (2). The multiple Mecanum wheels (3) are respectively located below the support plate (1) and controlled by corresponding motors. The multiple Mecanum wheels (3) and the multiple spiral stabilizers (4) work together to control the underwater robot to run according to the target trajectory set by the visual operating system.

7. The crack detection and grouting repair system according to claim 5, characterized in that, The camera assembly includes a main camera (5) positioned above the edge of the support plate (1) and a bottom camera (7) positioned below the center of the support plate (1). Image data acquired by the main camera (5) and / or the bottom camera (7) is transmitted to the visualization operating system via a control circuit (23).

8. The crack detection and grouting repair system according to claim 7, characterized in that, The main camera (5) is also equipped with corresponding underwater searchlights (6) on both sides.

9. The crack detection and grouting repair system according to claim 1, characterized in that, The pinhole grouting head (18) is connected to the micro grouting machine (20) in sequence through the telescopic grouting pipe (17) and the polymer transmission pipe; the polymer nozzle (11) is connected to the micro grouting machine (20) through the polymer transmission pipe.

10. The crack detection and grouting repair system according to claim 2 or 3, characterized in that, The multi-functional converter (10) is rotatable and is integrated with the inkjet head (8), the sludge removal head (9), and the polymer printhead (11) in one unit.

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