Underwater crack detection and repair device and dam repair system
By combining underwater crack detection and repair device with image acquisition and ultrasonic detection, the automated detection and repair of underwater cracks in dams has been achieved, solving the problems of high cost and safety hazards of traditional manual detection, and improving the safety of detection and the efficiency of repair.
Patent Information
- Application Number
- CN202520069570.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-10
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2035-01-10
AI Technical Summary
Traditional manual visual inspection methods for detecting dam cracks are costly and pose safety hazards, making it difficult to achieve efficient and safe underwater crack detection and repair.
Design an underwater crack detection and repair device that uses a combination of image acquisition and ultrasonic detector to identify cracks, and uses a combination of robotic arm and thruster to achieve six degrees of freedom of vehicle body movement, and carries a rock drill and concrete nozzle for automated repair.
It has achieved safe and accurate underwater crack detection of dams, reduced detection costs, improved repair efficiency, reduced safety hazards, and enabled precise repair of cracks on the dam surface and inside.
Smart Images
Figure CN223867251U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of underwater dam inspection and repair technology, specifically to an underwater crack detection and repair device and a dam repair system. Background Technology
[0002] Dams, as key components of water conservancy projects, play a vital role in power generation, flood control, irrigation, and navigation. Due to environmental disturbances, internal chemical reactions, and the long-term combined effects of loads, concrete dams develop cracks of varying degrees during operation. These cracks can damage the overall structure of the concrete dam, affecting its durability, strength, and stability, and can also induce other dam-related damage, such as concrete spalling on the dam face and leakage. In severe cases, they can even lead to operational accidents. Timely detection and repair of cracks can effectively prevent further damage to the dam.
[0003] The detection of cracks on the dam surface mainly relies on traditional manual visual inspection methods. The condition of the dam is regularly monitored by visual inspection using a suspended basket or a telescope. However, these methods have problems such as high maintenance costs and many safety hazards. Utility Model Content
[0004] In view of this, the present invention provides an underwater crack detection and repair device and a dam repair system to solve the problem that the detection of cracks on the dam surface mainly relies on traditional manual visual inspection methods. The dam condition is checked periodically by hanging a basket on the dam surface for manual visual inspection or by using a telescope, which has the problems of high maintenance costs and many safety hazards.
[0005] In a first aspect, this utility model provides an underwater crack detection and repair device, comprising:
[0006] Propeller components;
[0007] The vehicle body has a traveling assembly mounted on it. An image acquisition device is provided on the first side plate of the vehicle body. The traveling assembly drives the vehicle body to move, and the image acquisition device acquires images of the dam underwater as the vehicle body moves.
[0008] By coordinating the traveling components and the vehicle body, the vehicle moves within the water, and the vehicle body drives an image acquisition device to capture images of the dam underwater. This eliminates the need for personnel to visually inspect the dam's condition, reducing repair costs and eliminating potential hazards. In this embodiment, the image acquisition device is a camera.
[0009] In one alternative embodiment, the first side plate is further provided with an ultrasonic detection receiver, the traveling component includes two tracks respectively, and one track is provided on each side of the vehicle body.
[0010] In one optional embodiment, the vehicle body includes a roof panel, and a first top thruster, a second top thruster, a third top thruster, and a fourth top thruster are respectively provided at the four corners of the roof panel. The first top thruster and the third top thruster are diagonally arranged, as are the second top thruster and the fourth top thruster. The center point of the first top thruster and the center point of the second top thruster form a first top center line, and the center point of the third top thruster and the center point of the fourth top thruster form a second top center line. The first top center line and the second top center line are arranged parallel to each other, and the first top thruster and the second top thruster are arranged close to the first side panel.
[0011] In one optional embodiment, the top plate is further provided with a first robotic arm and a second robotic arm, the first robotic arm being disposed between a first top thruster and a fourth top thruster, and the second robotic arm being disposed between a second top thruster and a third top thruster.
[0012] In one alternative embodiment, a rock drill is mounted on the rotating end of the first robotic arm, and an operating manipulator is mounted on the rotating end of the second robotic arm, the operating manipulator being adapted to grasp a concrete nozzle.
[0013] In one optional embodiment, the vehicle body is further provided with a second side plate and a third side plate, the second side plate and the third side plate being arranged in parallel, and each of the second side plate and the third side plate being provided with a mounting seat, and each mounting seat being equipped with a track.
[0014] In one alternative embodiment, the first side plate is arranged perpendicularly to the second side plate.
[0015] In one alternative embodiment, the vehicle body further includes a fourth side panel, which is arranged parallel to the first side panel.
[0016] In one optional embodiment, the first side plate is provided with a first side thruster and a second side thruster, and the fourth side plate is provided with a third side thruster and a fourth side thruster. The first side thruster and the third side thruster are arranged diagonally, and the second side thruster and the fourth side thruster are arranged diagonally. The center point of the first side thruster and the center point of the second side thruster form a first side center line, and the center point of the third side thruster and the center point of the fourth side thruster form a second side center line. The first side center line and the second side center line are arranged parallel to each other.
[0017] Secondly, this utility model also provides a dam repair system, including the above-mentioned underwater crack detection and repair device, and also including a hull, wherein a cable is provided between the hull and the underwater crack detection and repair device. Attached Figure Description
[0018] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0019] Figure 1 This is a schematic diagram of a dam repair system according to an embodiment of the present utility model;
[0020] Figure 2 This is a schematic diagram of an underwater crack detection and repair device according to an embodiment of the present invention;
[0021] Figure 3 This is a bottom view of the underwater crack detection and repair device according to an embodiment of the present invention.
[0022] Explanation of reference numerals in the attached drawings: 1. Vehicle body; 101. First top thruster; 102. Second top thruster; 103. Third top thruster; 104. Fourth top thruster; 105. Top plate; 106. First side plate; 107. Image acquisition device; 108. Ultrasonic detection receiver; 109. First robotic arm; 110. Second robotic arm; 111. First side thruster; 112. Second side thruster; 113. Third side thruster; 114. Fourth side thruster; 115. Fourth side plate; 2. Cable; 3. Hull; 4. Dam; 5. Bottom surface; 6. Traveling assembly; 601. Track; 602. Mounting base; 603. Drive wheel; 7. Rock drill; 8. Operating robot arm. Detailed Implementation
[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0024] The following is combined Figures 1 to 3 The following describes embodiments of the present invention.
[0025] According to an embodiment of the present invention, an underwater crack detection and repair device is provided, comprising: a traveling component 6; a vehicle body 1, the traveling component 6 being disposed on the vehicle body 1, the vehicle body 1 being adapted to travel in water, an image acquisition device 107 being disposed on the first side plate 106 of the vehicle body 1, the traveling component 6 driving the vehicle body 1 to move, and the image acquisition device 107 acquiring images of the dam 4 located underwater as the vehicle body 1 moves.
[0026] The vehicle body 1 moves through the water by cooperating with the traveling component 6. The vehicle body 1 drives the image acquisition device 107 to collect images of the dam 4 underwater. This eliminates the need for personnel to visually inspect the dam 4, reducing repair costs and eliminating potential hazards. In this embodiment, the image acquisition device 107 is a camera.
[0027] In one embodiment, such as Figure 2 As shown, an ultrasonic detector receiver 108 is also provided on the first side plate 106. The traveling component 6 includes two tracks 601, with one track 601 on each side of the vehicle body 1. The ultrasonic detector receiver 108 performs ultrasonic detection on the dam body 4. Through image acquisition by the image acquisition device and the results of ultrasonic detection, the internal crack information of the dam 4 is accurately identified. Compared with traditional manual underwater detection, this greatly improves safety and the accuracy of detection results. The tracks 601 propel the vehicle body 1 to travel on the bottom surface 5 of the water.
[0028] In one embodiment, such as Figure 2 , Figure 3 As shown, the vehicle body 1 includes a top plate 105. At the four corners of the top plate 105 are respectively provided a first top thruster 101, a second top thruster 102, a third top thruster 103, and a fourth top thruster 104. The first top thruster 101 and the third top thruster 103 are diagonally arranged, as are the second top thruster 102 and the fourth top plate thruster 104. The center point of the first top thruster 101 and the center point of the second top thruster 102 form a first top center line, and the center point of the third top thruster 103 and the center point of the fourth top thruster 104 form a second top center line. The first and second top center lines are parallel to each other. The first top thruster 101 and the second top thruster 102 are located close to the first side plate 106. Specifically, the first top thruster 101, the second top thruster 102, the third top thruster 103, and the fourth top thruster 104 are stirring blades of the same specification.
[0029] With the above configuration, when the first top thruster 101, the second top thruster 102, the third top thruster 103, and the fourth top thruster 104 work simultaneously, the vehicle body 1 can be driven to rise or sink rapidly; or, when the first top thruster 101 and the second top thruster 102 rotate forward while the third top thruster 103 and the fourth top thruster 104 are not working or are rotating in reverse, the pitching motion of the vehicle body 1 is achieved by generating a torque in front and behind the vehicle body 1; when the first top thruster 101 and the fourth top thruster 104 rotate forward while the second top thruster 102 and the third top thruster 103 are not working or are rotating in reverse, or when the second top thruster 102 and the third top thruster 103 rotate forward while the first top thruster 101 and the fourth top thruster 104 are not working or are rotating in reverse, the rolling motion of the vehicle body 1 is achieved.
[0030] In one embodiment, such as Figure 2 , Figure 3 As shown, the top plate 105 is also equipped with a first robotic arm 109 and a second robotic arm 110. The first robotic arm 109 is located between the first top thruster 101 and the fourth top thruster 104, and the second robotic arm 110 is located between the second top thruster 102 and the third top thruster 103. Both the first robotic arm 109 and the second robotic arm 110 are multi-degree-of-freedom robotic arms, capable of multi-dimensional movement to achieve corresponding actions.
[0031] In one embodiment, such as Figure 2 , Figure 3 As shown, a rock drill 7 is mounted on the rotating end of the first robotic arm 109, and an operating manipulator 8 is mounted on the rotating end of the second robotic arm 110. The operating manipulator 8 is adapted to grasp a concrete nozzle. The rock drill 7 drills holes in the cracks on the surface of the dam 4, and the multi-functional manipulator grasps the concrete nozzle and injects concrete slurry into the drill hole to repair the cracks.
[0032] In one embodiment, such as Figure 2 , Figure 3 As shown, the vehicle body 1 also has a second side plate and a third side plate, which are arranged in parallel. Each of the second and third side plates has a mounting seat 602, and each mounting seat 602 is equipped with a track 601. Figure 2 As shown, it also includes two drive wheels 603 and two drive components, with one drive component corresponding to one drive wheel 603. The tracks 601 are mounted via mounting brackets 602, with one drive wheel 603 corresponding to one track 601. The drive wheel 603, powered by a power component, drives the tracks 601 to rotate, propelling the vehicle body 1 forward. It should be noted that when turning is required, the speed difference between the two drive wheels 603 creates a speed difference between the two tracks 601, enabling the vehicle body 1 to turn. The power component is a servo motor.
[0033] In one embodiment, such as Figure 2 , Figure 3 As shown, the first side plate 106 is perpendicular to the second side plate so that the first side plate 106 is perpendicular to the third side plate, thereby connecting the first side plate 106 to the top plate 105, the second side plate, and the third side plate respectively.
[0034] In one embodiment, such as Figure 2 , Figure 3 As shown, the vehicle body 1 also includes a fourth side plate 115, which is arranged parallel to the first side plate 106, so as to connect the fourth side plate 115 to the top plate 105, the second side plate and the third side plate respectively.
[0035] In one embodiment, such as Figure 2 , Figure 3 As shown, the first side plate 106 is provided with a first side thruster 111 and a second side thruster 112, and the fourth side plate 115 is provided with a third side thruster 113 and a fourth side thruster 114. The first side thruster 111 and the third side thruster 113 are arranged diagonally, as are the second side thruster 112 and the fourth side thruster 114. The center point of the first side thruster 111 and the center point of the second side thruster 112 form the first side center line, and the center point of the third side thruster 113 and the center point of the fourth side thruster 114 form the second side center line. The first side center line and the second side center line are arranged parallel to each other. Specifically, the first side thruster 111, the second side thruster 112, the third side thruster 113, and the fourth side thruster 114 are stirring blades of the same specification.
[0036] In the above configuration, when the first side thruster 111 and the second side thruster 112 rotate clockwise, and the third side thruster 113 and the fourth side thruster 114 rotate counterclockwise (i.e., when the third side thruster 113 and the fourth side thruster 114 rotate counterclockwise, a force is generated that propels the vehicle body 1 forward), the vehicle body 1 moves forward; or, when the first side thruster 111 and the second side thruster 112 rotate counterclockwise, and the third side thruster 113 and the fourth side thruster 114 rotate clockwise, the vehicle body 1 moves backward; or, when the first side thruster 111 and the fourth side thruster 114 rotate clockwise, and the second side thruster 112 and the third side thruster 113 rotate counterclockwise, the vehicle body 1 moves laterally to the left; when the first side thruster 111 and the fourth side thruster 114 rotate counterclockwise, and the second side thruster 112 and the third side thruster 113 rotate clockwise, the vehicle body 1 moves laterally to the right. Simultaneously, the turning motion of the vehicle body 1 is achieved by coordinating the speed difference between the two tracks 601. It should be noted that when the top thrusters and side thrusters do not affect each other, each top thruster and each side thruster can rotate independently. It should also be noted that each top thruster and each side thruster is connected to a brushless motor.
[0037] According to an embodiment of this utility model, another aspect provides a dam repair system, including an underwater crack detection and repair device, and a hull 3. A cable 2 is provided between the hull 3 and the underwater crack detection and repair device, and the cable 2 provides power to the vehicle body 1. In addition, it includes a mud pipe and a communication line. The mud pipe is connected to a concrete nozzle, and the communication line is connected to the hull 3 and the vehicle body 1 respectively. Images acquired by the image acquisition device 107 and sound wave signals from the ultrasonic detector are transmitted and fed back to the hull 3. To achieve control, a controller is provided on the hull 3. The controller controls the first top thruster 101, the second top thruster 102, the third top thruster 103, the fourth top thruster 104, the first side thruster 111, the second side thruster 112, the third side thruster 113, and the fourth side thruster 114 respectively. The controller also controls the first robotic arm 109, the second robotic arm 110, two drive wheels 603, the rock drill 7, and the multi-functional robotic arm.
[0038] In the specific implementation process, the top propeller drives the vehicle body 1 to rise, sink, or flip, and the side propellers then propel the vehicle body 1 to move laterally, turn, or move back and forth, thus realizing the movement of the vehicle body 1. The image acquisition device 107 of the vehicle body 1 acquires images of the dam surface, and the ultrasonic detection receiver 108 performs ultrasonic detection on the interior of the dam body 4 to obtain ultrasonic images of underwater cracks. Shallow crack repair can be carried out by the multi-functional robotic arm applying repair paste to the crack surface, and the crack repair can be completed after the crack detection is completed, eliminating the need for pumping water before repair construction, which greatly shortens the repair construction time. For cracks inside the dam body, the rock drill 7 first drills holes at the corresponding locations. After reaching the crack location, the multi-functional robotic arm grabs the concrete nozzle and injects concrete slurry into the drill hole to repair the crack. Throughout the process, the personnel on the ship 3 control parameters such as the attitude of the vehicle body 1, the rock drill 7, and the concrete spraying speed, realizing automated control.
[0039] The underwater crack detection and repair device provided by this utility model has the following advantages: (1) By combining the functions of the top thruster and the side thruster at different positions of the device, the problem of the movement of the vehicle body 1 in a complex environment is solved, and the six-degree-of-freedom movement of the vehicle body 1 is realized; (2) Equipped with an image acquisition device 107 and an ultrasonic detection receiver 108, in order to address the current problems of poor image acquisition effect and inaccurate image recognition algorithm, ultrasonic detection and image acquisition results are compared and viewed to achieve accurate detection of cracks on the surface and inside of the dam body; (3) Equipped with a first robotic arm 109 and a second robotic arm 110, the collaborative construction of the two robotic arms can be realized. It can not only achieve the repair of shallow surface cracks, but also the repair of complex cracks such as drilling and grouting, and realize the entire process of repairing underwater surface cracks of the dam 4.
[0040] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.
Claims
1. An underwater crack detection and repair device, characterized in that, include: Traveling components (6); The vehicle body (1) has a traveling component (6) mounted on it. An image acquisition device (107) is mounted on the first side plate (106) of the vehicle body (1). The traveling component (6) drives the vehicle body (1) to move. The image acquisition device (107) acquires images of the dam (4) underwater as the vehicle body (1) moves. The first side plate (106) is also provided with an ultrasonic detection receiver (108), and the traveling component (6) includes two tracks (601) respectively. The vehicle body (1) is provided with a track (601) on each side. The vehicle body (1) includes a roof plate (105). The four corners of the roof plate (105) are respectively provided with a first top thruster (101), a second top thruster (102), a third top thruster (103) and a fourth top thruster (104). The first top thruster (101) and the third top thruster (103) are arranged diagonally, and the second top thruster (102) and the fourth top plate (105) thruster are arranged diagonally. The center point of the first top thruster (101) and the center point of the second top thruster (102) form a first top center line. The center point of the third top thruster (103) and the center point of the fourth top thruster (104) form a second top center line. The first top center line and the second top center line are arranged parallel to each other. The first top thruster (101) and the second top thruster (102) are arranged close to the first side plate (106).
2. The underwater crack detection and repair device according to claim 1, characterized in that, The top plate (105) is also provided with a first robotic arm (109) and a second robotic arm (110). The first robotic arm (109) is located between the first top thruster (101) and the fourth top thruster (104), and the second robotic arm (110) is located between the second top thruster (102) and the third top thruster (103).
3. The underwater crack detection and repair device according to claim 2, characterized in that, The first robotic arm (109) is equipped with a rock drill (7) on its rotating end, and the second robotic arm (110) is equipped with an operating manipulator (8) on its rotating end, the operating manipulator (8) being adapted to grasp concrete nozzles.
4. The underwater crack detection and repair device according to claim 1, characterized in that, The vehicle body (1) is also provided with a second side plate and a third side plate, the second side plate and the third side plate are arranged in parallel, and each of the second side plate and the third side plate is provided with a mounting seat (602), and each mounting seat (602) is equipped with a track (601).
5. The underwater crack detection and repair device according to claim 4, characterized in that, The first side plate (106) is perpendicular to the second side plate.
6. The underwater crack detection and repair device according to claim 5, characterized in that, The vehicle body (1) also includes a fourth side plate (115), which is arranged parallel to the first side plate (106).
7. The underwater crack detection and repair device according to claim 6, characterized in that, The first side plate (106) is provided with a first side thruster (111) and a second side thruster (112), and the fourth side plate (115) is provided with a third side thruster (113) and a fourth side thruster (114). The first side thruster (111) and the third side thruster (113) are arranged diagonally, and the second side thruster (112) and the fourth side thruster (114) are arranged diagonally. The center point of the first side thruster (111) and the center point of the second side thruster (112) form a first side center line, and the center point of the third side thruster (113) and the center point of the fourth side thruster (114) form a second side center line. The first side center line and the second side center line are arranged parallel to each other.
8. A dam repair system, characterized in that, The device includes the underwater crack detection and repair device according to any one of claims 1-7, and also includes a hull (3), wherein a cable (2) is provided between the hull (3) and the underwater crack detection and repair device.