Intelligent patrol inspection method, apparatus, equipment, and medium for the stilling basin of a high arch dam.

Abstract

When conducting routine inspections of stilling ponds, a combination of a first-stage general inspection, a second-stage detailed inspection, and a third-stage precise inspection is used to efficiently collect, identify, and diagnose defects in the bottom slab of stilling ponds in a complex underwater environment. [Solution] The present application provides an intelligent patrol inspection method, apparatus, equipment, and medium for the stilling basin of a high-arch dam, relating to the technical field of underwater exploration. The method of the present application includes the steps of: collecting tomographic images of the bottom slab of the stilling basin with a first acquisition device; performing a first-stage general inspection based on the tomographic images; collecting external images of the bottom slab with a second acquisition device based on the patrol inspection results of the first-stage general inspection; obtaining patrol inspection results of a second-stage detailed inspection based on the external images; collecting fine images of the bottom slab with a third acquisition device based on the patrol inspection results of the second-stage detailed inspection; and obtaining patrol inspection results of a third-stage precision inspection based on the fine images.

Description

Technical Field

[0001] This application relates to the technical field of underwater exploration, and particularly to an intelligent patrol inspection method, device, equipment, and medium for the dissipation pool of a high arch dam.

Background Art

[0002] With the active development of China's water conservancy and hydropower industries, arch dams have gradually become one of the mainstream dam forms in large-scale hydropower plant construction. To ensure the safety of the project itself and protect the lives and property of people downstream, flood discharge and energy dissipation are one of the most important issues in arch dam construction.

[0003] Particularly, high arch dams have the characteristics of "three large and one narrow" in their flood discharge and energy dissipation methods. "Three large" refers to the large water head, large flow rate, and large flood discharge power during flood discharge, and "one narrow" refers to the narrow river valley. Currently, high arch dams usually adopt flood discharge by the dam body for flood discharge and energy dissipation. Hole structures such as surface holes and deep holes are arranged in the dam body, and two dams are installed downstream of the dam body to raise the downstream water level and form a dissipation pool (also called a cushion pool). When discharging flood, the water in the dam flows down from the dam body and impacts the cushion, achieving the purpose of energy dissipation through the water in the dissipation pool. This energy dissipation method has characteristics such as being safe and economical and has been applied to many projects. In addition to the long-term impact of the water discharge from the dam on the dissipation pool, due to the combined effects of many adverse factors such as earthquakes, excessive floods, and the external environment, problems such as erosion, scouring, and cracking are bound to occur in the concrete of the bottom slab of the dissipation pool. Also, a large amount of silt accumulates at the bottom of the dissipation pool that has been operating for a long time, directly affecting the long-term safe and stable operation and service life of the dissipation pool.

[0004] Currently, underwater inspection of concrete in the stilling basins of large-scale hydroelectric power plants is mainly carried out by manual inspections conducted by divers. Because the underwater environment is complex, vortices are easily generated at points of concrete leakage in the bottom slab, potentially threatening the lives of divers. Furthermore, there are limitations on divers' working hours and diving depths, making it impossible to meet the needs of large-scale and long-term inspections. In addition, divers lack specialized knowledge, and their labor costs are high, making it difficult to achieve professional and standardized detection accuracy.

[0005] Therefore, there is an urgent need for a new intelligent inspection method for the stilling basins of high-arch dams. [Overview of the project] [Problems that the invention aims to solve]

[0006] In view of the above problems, embodiments of the present application provide an intelligent patrol inspection method, apparatus, equipment, and medium for a high-arch dam's stilling basin to solve the above problems or at least part of the above problems. [Means for solving the problem]

[0007] In a first aspect of the present application, an intelligent patrol inspection method for a stilling basin of a high-arch dam, wherein the method is: The steps include: collecting fault images of the bottom slab of the stilling pond subject to routine inspection using a first acquisition device; The steps include: performing a first-stage general inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the fault image of the bottom slab, and obtaining the patrol inspection results of the first-stage general inspection; Based on the results of the general inspection in the first stage, the process involves collecting an external image of the bottom slab of the energy dissipation pond subject to the inspection using a second collection device, Based on the aforementioned external image, a second-stage detailed inspection is performed on the bottom slab of the stilling pond subject to the patrol inspection, and the patrol inspection results of the second-stage detailed inspection are obtained. Based on the results of the detailed inspection in the second stage described above, a third step is to collect fine images of the bottom slab of the stilling pond that is the subject of the inspection using a third acquisition device, Based on the aforementioned fine image, a third-stage detailed inspection is performed on the bottom slab of the stilling pond that is subject to the patrol inspection, and the patrol inspection results of the third-stage detailed inspection are obtained. The present invention provides an intelligent patrol inspection method for a high-arch dam's stilling basin, comprising the step of determining defects in the bottom slab of the stilling basin subject to patrol inspection based on the patrol inspection results of the first stage general inspection, the patrol inspection results of the second stage detailed inspection, and the patrol inspection results of the third stage precise inspection.

[0008] The step of determining defects in the bottom slab of the stilling pond subject to inspection, optionally based on the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage, is as follows: The steps include: combining the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage to obtain a combined inspection result for the stilling pond subject to inspection; The method includes the step of determining the location, type, and scale of defects in the bottom slab of the water dissipation pond, based on the results of a combined inspection of the water dissipation pond subject to inspection.

[0009] Optionally, the first acquisition device is a multi-beam underwater three-dimensional sonar device, and the step of acquiring a tomographic image of the bottom slab of the stilling pond to be inspected by the first acquisition device is: The steps include: collecting multi-beam ultrasonic data of the bottom slab of the stilling pond subject to the patrol inspection using the multi-beam underwater three-dimensional sonar device; The procedure includes the step of creating a tomographic image of the bottom slab of the stilling pond subject to the periodic inspection, based on the multi-beam ultrasound data.

[0010] The step of optionally performing a first-stage general inspection on the bottom slab of the well-dissipating pond subject to the patrol inspection based on the tomographic image of the bottom slab, and obtaining the patrol inspection results of the first-stage general inspection, is as follows: The steps include obtaining coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The defective region is marked in the tomographic image, and image feature analysis is performed on the defective region; The steps include determining the defect type, defect location, and defect size of the first type defect in the defect region based on the image feature analysis results of the defect region and the coordinate data of all sites in the bottom slab of the stilling pond subject to the periodic inspection, The process includes the step of determining the defect type, defect location, and defect size of the first type of defect in the defect region as the result of the routine inspection of the first stage general inspection.

[0011] Optionally, the second collection device is an unmanned underwater vehicle, and the step of collecting an external image of the bottom slab of the stilling pond subject to the patrol inspection by the second collection device based on the patrol inspection results of the first stage general inspection is as follows: The steps include determining the first survey line configuration of the unmanned underwater vehicle based on the results of the general inspection in the first stage, The steps include: using the unmanned underwater vehicle to collect two-dimensional sonar images of the bottom slab of the stilling pond to be inspected, in accordance with the first inspection route planned by the first survey line arrangement; The procedure includes the steps of determining the defective areas of the bottom slab of the stilling pond to be inspected based on the two-dimensional sonar image, and collecting an image of the appearance of the defective areas using the unmanned underwater vehicle.

[0012] The step of optionally performing a second-stage detailed inspection on the bottom slab of the water-dissipating pond subject to the patrol inspection based on the aforementioned external image, and obtaining the patrol inspection results of the second-stage detailed inspection, is as follows: The steps include obtaining coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The steps include: performing image feature analysis on the appearance image of the defect region to obtain the image feature analysis results of the appearance image; The steps include determining the defect type, defect location, and defect size of the second type defect in the defect area based on the image feature analysis results of the aforementioned external image and the coordinate data of all sites in the bottom slab of the energy dissipation pond subject to the periodic inspection, The step includes determining the defect type, defect location, and defect size of the second type of defect in the defect region as the result of the circulating inspection of the second stage detailed inspection.

[0013] Optionally, the third acquisition device is a dual-mode underwater detection robot, and the step of acquiring fine images of the bottom slab of the stilling pond being inspected by the third acquisition device based on the results of the detailed inspection in the second stage is as follows: The steps include determining the second survey line configuration of the dual-mode underwater detection robot based on the results of the detailed inspection in the second stage, The steps include: using the dual-mode underwater detection robot to perform dredging-water replacement processing on a preset target area in the second patrol inspection route, according to the second patrol inspection route planned by the second survey line arrangement; The procedure includes the step of collecting fine images of the pre-set target area after dredging-water replacement using the dual-mode underwater detection robot.

[0014] The step of optionally performing a third-stage detailed inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the aforementioned fine image, and obtaining the patrol inspection results of the third-stage detailed inspection, is as follows: The steps include obtaining coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The steps include: performing image feature analysis on the aforementioned fine image to obtain the image feature analysis results of the aforementioned fine image; Based on the image feature analysis result of the microscopic image and the coordinate data of all sites of the bottom slab of the attenuation pond to be inspected, determining the defect type, defect location, and defect scale of the third type of defect in the microscopic image; Regarding the defect type, defect location, and defect scale of the third type of defect in the microscopic image as the inspection results of the third-stage precision inspection cycle inspection, including.

[0015] Optionally, after pumping water from the attenuation pond to be inspected and performing dredging, the method includes: Full-scanning the bottom slab of the attenuation pond to be inspected by a three-dimensional laser scanner to obtain three-dimensional data of the bottom slab of the attenuation pond to be inspected; Performing data analysis on the three-dimensional data of the bottom slab of the attenuation pond to be inspected to determine the three-dimensional data of the defects of the bottom slab of the attenuation pond to be inspected; Based on the three-dimensional data of the defects of the bottom slab of the attenuation pond to be inspected, respectively verifying the inspection results of the first-stage general inspection cycle inspection, the second-stage detailed inspection cycle inspection, and the third-stage precision inspection cycle inspection.

[0016] In the second aspect of the present application, an intelligent cycle inspection device for the attenuation pond of a high arch dam, the device includes: A first collection module used to collect a tomographic image of the bottom slab of the attenuation pond to be inspected by a first collection device; A first-stage general inspection module used to perform a first-stage general inspection on the bottom slab of the attenuation pond to be inspected based on the tomographic image of the bottom slab and obtain the inspection results of the first-stage general inspection cycle inspection; A second collection module used to collect an appearance image of the bottom slab of the attenuation pond to be inspected by a second collection device based on the inspection results of the first-stage general inspection cycle inspection; Based on the appearance image, a second-stage detailed inspection is performed on the bottom slab of the attenuation pond to be inspected, and it is used to obtain the inspection results of the second-stage detailed inspection for the circuit inspection. The second-stage detailed inspection module, Based on the inspection results of the second-stage detailed inspection for the circuit inspection, a third collection module is used to collect the microscopic images of the bottom slab of the attenuation pond to be inspected by a third collection device. Based on the microscopic image, a third-stage precision inspection is performed on the bottom slab of the attenuation pond to be inspected, and it is used to obtain the inspection results of the third-stage precision inspection for the circuit inspection. The third-stage precision inspection module, Based on the inspection results of the first-stage general inspection for the circuit inspection, the inspection results of the second-stage detailed inspection for the circuit inspection, and the inspection results of the third-stage precision inspection for the circuit inspection, a determination module is used to determine the defects of the bottom slab of the attenuation pond to be inspected. An intelligent circuit inspection device for the attenuation pond of a high arch dam is provided.

[0017] Optionally, in the step of determining the defects of the bottom slab of the attenuation pond to be inspected based on the inspection results of the first-stage general inspection for the circuit inspection, the inspection results of the second-stage detailed inspection for the circuit inspection, and the inspection results of the third-stage precision inspection for the circuit inspection, the determination module A fusion sub-module is used to fuse the inspection results of the first-stage general inspection for the circuit inspection, the inspection results of the second-stage detailed inspection for the circuit inspection, and the inspection results of the third-stage precision inspection for the circuit inspection to obtain the fused circuit inspection results of the attenuation pond to be inspected. Based on the fused circuit inspection results of the attenuation pond to be inspected, a first determination sub-module is used to determine the defect position, defect type, and defect scale of the bottom slab of the attenuation pond to be inspected.

[0018] Optionally, the first collection device is a multi-beam underwater three-dimensional sonar device. In the step of collecting the tomographic image of the bottom slab of the attenuation pond to be inspected by the first collection device, the first collection module A first acquisition submodule used to collect multibeam ultrasonic data of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the multibeam underwater three-dimensional sonar device, The system includes a creation submodule used to create a tomographic image of the bottom slab of the well-dissipating basin subject to the periodic inspection, based on the multi-beam ultrasound data.

[0019] In the step in which, optionally, a first-stage general inspection is performed on the bottom slab of the stilling pond subject to the periodic inspection based on the tomographic image of the bottom slab, and the periodic inspection results of the first-stage general inspection are obtained, the first-stage general inspection module is A first acquisition submodule used to acquire coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The first feature analysis submodule is used to mark defective regions in the tomographic image and to perform image feature analysis on the defective regions. A second determination submodule used to determine the defect type, defect location, and defect size of a first type defect in the defect region, based on the image feature analysis results of the defect region and the coordinate data of all sites of the bottom slab of the stilling pond subject to the periodic inspection. The system includes a third determination submodule used to determine the defect type, defect location, and defect size of the first type of defect in the defect region as the result of the patrol inspection of the first stage general inspection.

[0020] Optionally, the second collection device is an unmanned underwater vehicle, and in the step of collecting external images of the bottom slab of the stilling pond subject to the inspection by the second collection device based on the results of the patrol inspection of the first stage general inspection, the second collection module is A fourth determination submodule used to determine the first survey line configuration of the unmanned underwater vehicle based on the results of the patrol inspection of the first stage general inspection, A second acquisition submodule is used by the unmanned underwater vehicle to collect two-dimensional sonar images of the bottom slab of the stilling pond to be inspected, in accordance with the first inspection route planned by the first survey line arrangement, The system includes a fifth determination submodule used to determine defective areas in the bottom slab of the energy dissipation pond subject to inspection based on the two-dimensional sonar images, and to collect visual images of the defective areas using the unmanned underwater vehicle.

[0021] In the step in which, optionally, a second-stage detailed inspection is performed on the bottom slab of the stilling pond subject to the patrol inspection based on the aforementioned external image, and the patrol inspection results of the second-stage detailed inspection are obtained, the second-stage detailed inspection module is: A second acquisition submodule used to acquire coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, Image feature analysis is performed on the external image of the defective region to obtain the image feature analysis results of the external image. A second feature analysis submodule used to determine the defect type, defect location, and defect size of a second type defect in the defect region, based on the image feature analysis results of the aforementioned external image and the coordinate data of all sites in the bottom slab of the energy dissipation pond subject to the periodic inspection. The system includes a sixth determination submodule used to determine the defect type, defect location, and defect size of a second type defect in the defect region as the result of the circulating inspection of the second stage detailed inspection.

[0022] Optionally, the third acquisition device is a dual-mode underwater detection robot, and in the step of acquiring fine images of the bottom slab of the stilling pond being inspected by the third acquisition device based on the results of the detailed inspection in the second stage, the third acquisition module is: A seventh determination submodule used to determine the second survey line configuration of the dual-mode underwater detection robot based on the results of the detailed inspection in the second stage, A processing submodule used by the dual-mode underwater detection robot to perform dredging-water replacement processing on a preset target area in the second patrol inspection route according to the second inspection route planned by the second survey line arrangement, The dual-mode underwater detection robot includes a third acquisition submodule used to collect fine images of the preset target area after dredging and water replacement.

[0023] In the step in which, optionally, a third-stage detailed inspection is performed on the bottom slab of the stilling pond subject to the patrol inspection based on the fine image, and the patrol inspection results of the third-stage detailed inspection are obtained, the third-stage detailed inspection module is: A third acquisition submodule used to acquire coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, A third feature analysis submodule used to perform image feature analysis on the aforementioned fine image and obtain the image feature analysis results of the aforementioned fine image, An eighth determination submodule used to determine the defect type, defect location, and defect size of a third type defect in the fine image, based on the image feature analysis results of the fine image and the coordinate data of all sites in the bottom slab of the watershed pond subject to the patrol inspection, The system includes a ninth determination submodule used to determine the defect type, location, and size of a third type defect in the aforementioned fine image as the result of the circulating inspection of the third stage of detailed inspection.

[0024] Optionally, the device may be: A scan submodule used to obtain three-dimensional data of the bottom slab of the water dissipation pond to be inspected by fully scanning the bottom slab of the water dissipation pond to be inspected using a three-dimensional laser scanner, A data analysis submodule used to perform data analysis on the three-dimensional data of the bottom slab of the water dissipation pond subject to the aforementioned periodic inspection, and to determine the three-dimensional data of defects in the bottom slab of the water dissipation pond subject to the aforementioned periodic inspection, The system further includes a verification submodule used to verify the results of the first stage general inspection, the second stage detailed inspection, and the third stage precise inspection, respectively, based on three-dimensional data of defects in the bottom slab of the stilling pond subject to the inspection.

[0025] A third aspect of the present application provides an apparatus for an intelligent patrol inspection method of a high-arch dam's stilling basin, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to realize the intelligent patrol inspection method of a high-arch dam's stilling basin described in the first aspect of the present application.

[0026] A fourth aspect of the present application provides a computer-readable storage medium in which a computer program / instruction is stored, the computer program / instruction, when executed by a processor, realizes an intelligent patrol inspection method for a high-arch dam's stilling basin as described in the first aspect of the present application. [Effects of the Invention]

[0027] The beneficial effects of this application are as follows:

[0028] Embodiments of the present application provide an intelligent patrol inspection method for a high-arch dam's stilling basin, the method comprising the steps of: collecting tomographic images of the bottom slab of the stilling basin to be inspected using a first acquisition device; performing a first-stage general inspection on the bottom slab of the stilling basin to be inspected based on the tomographic images of the bottom slab to be inspected and obtaining the patrol inspection results of the first-stage general inspection; collecting external images of the bottom slab of the stilling basin to be inspected using a second acquisition device based on the patrol inspection results of the first-stage general inspection; and performing a second-stage detailed inspection on the bottom slab of the stilling basin to be inspected based on the external images. The present invention includes the steps of: conducting an inspection to obtain the results of the detailed inspection in the second stage; collecting fine images of the bottom slab of the stilling pond to be inspected using a third acquisition device based on the results of the detailed inspection in the second stage; conducting a precise inspection in the third stage on the bottom slab of the stilling pond to be inspected based on the fine images to obtain the results of the precise inspection in the third stage; and determining defects in the bottom slab of the stilling pond to be inspected based on the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage. In this invention, when conducting inspections of a stilling pond, the combination of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage enables efficient collection, identification, and soundness diagnosis of defects in the bottom slab of the stilling pond in a complex underwater environment. [Brief explanation of the drawing]

[0029] To more clearly explain the technical solutions of the embodiments of this application, the drawings necessary for describing the embodiments of this application will be briefly described below. However, the drawings in the following description are only a few embodiments of this application, and it will be obvious to those skilled in the art that other drawings can be obtained based on these drawings without any creative effort. [Figure 1] This is a schematic diagram illustrating the steps of an intelligent patrol inspection method for a high-arch dam's stilling basin according to an embodiment of the present invention. [Figure 2]This is a schematic diagram of a fault image of the bottom slab of a stilling pond that is subject to periodic inspection according to an embodiment of the present invention. [Figure 3] This is a schematic diagram of the survey line arrangement of an unmanned underwater vehicle according to an embodiment of the present invention. [Figure 4] This is a schematic diagram of the third stage of precision inspection using a dual-mode underwater detection robot according to an embodiment of the present invention. [Figure 5] This is a logic block diagram and a schematic diagram of the corresponding collection equipment for an intelligent patrol inspection method for a high-arch dam's stilling basin according to an embodiment of the present invention. [Figure 6] This is a schematic diagram of an intelligent patrol inspection device for a high-arch dam's stilling basin according to an embodiment of the present invention. [Figure 7] This is a schematic diagram of the device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0030] The exemplary embodiments of the present application will be described in more detail below, with reference to the drawings in the embodiments. While the drawings show exemplary embodiments of the present application, it should be understood that the application can be implemented in various forms and should not be limited to the embodiments described herein. Rather, these embodiments are provided to allow for a more thorough understanding of the present application and to fully convey its scope to those skilled in the art.

[0031] In a first embodiment of the present invention, an intelligent patrol inspection method for a stilling basin of a high-arch dam is provided, as shown in Figure 1, the method includes the following steps S101 to S107.

[0032] Step S101: Tomographic images of the bottom slab of the stilling pond, which is the subject of the patrol inspection, are collected using the first acquisition device.

[0033] In this step, the first acquisition device performs a large-scale scan and image acquisition of the underwater environment of the stilling basin, thereby fully capturing the structural features of the bottom slab and obtaining a tomographic image of the bottom slab of the stilling basin.

[0034] Step S102: Based on the tomographic image of the bottom slab, a first-stage general inspection is performed on the bottom slab of the stilling pond subject to the patrol inspection, and the patrol inspection results of the first-stage general inspection are obtained.

[0035] In this step, a first-stage general inspection is performed on the bottom slab of the stilling basin subject to patrol inspection, based on tomographic images of the stilling basin bottom slab, and the patrol inspection results for the first-stage general inspection are obtained. In practical applications, the first-stage general inspection can be performed by analyzing tomographic images using a pre-configured automated algorithm to pre-select areas where anomalies may exist, enabling the rapid identification of potential defects in complex underwater environments.

[0036] Step S103: Based on the results of the general inspection in the first stage, an external image of the bottom slab of the stilling pond subject to the inspection is collected by the second collection device.

[0037] In this step, based on the results of the general inspection in the first stage, external images of the bottom slab of the stilling pond subject to inspection are collected by a second collection device. The second collection device typically has a high ability to capture surface details and can more clearly present the specific condition of the bottom slab surface, thus compensating for defects that were missed in the general inspection in the first stage.

[0038] Step S104: Based on the external image, a second-stage detailed inspection is performed on the bottom slab of the stilling pond subject to the patrol inspection, and the patrol inspection results of the second-stage detailed inspection are obtained.

[0039] In this step, a second-stage detailed inspection is performed on the bottom slab of the stilling pond, which is subject to the patrol inspection, based on the external image of the bottom slab of the stilling pond collected by the second collection device, and the patrol inspection results of the second-stage detailed inspection are obtained. In the second-stage detailed inspection, the patrol inspection area is further narrowed, and abnormal conditions on the surface of the bottom slab are confirmed and recorded through detailed analysis of the external image, providing detailed information for the next detailed inspection.

[0040] Step S105: Based on the results of the detailed inspection in the second stage, a third acquisition device collects a fine image of the bottom slab of the stilling pond that is the subject of the inspection.

[0041] In this step, based on the results of the detailed inspection in the second stage, a third acquisition device collects fine images of the bottom slab of the stilling pond being inspected. The third acquisition device may be a visual inspection device capable of operating in complex environments such as silt and turbid water, capturing the fine structure of the bottom slab at a microscopic level and providing high-precision image data for the final detailed inspection.

[0042] Step S106: Based on the fine image, a third-stage detailed inspection is performed on the bottom slab of the stilling pond that is subject to the patrol inspection, and the patrol inspection results of the third-stage detailed inspection are obtained.

[0043] In this step, a third-stage detailed inspection is performed on the bottom slab of the stilling basin subject to inspection, based on the fine images collected by the third-stage acquisition equipment, to obtain the inspection results for the third-stage detailed inspection. In actual application, the third-stage detailed inspection combines the results of the first two inspections with a pre-set high-precision algorithm and a pre-set expert system to comprehensively analyze the fine images, determine defects in the bottom slab of the stilling basin subject to inspection, and finally confirm the soundness of the bottom slab and specific problems, providing a detailed basis for maintenance and repair work. Through the above steps, this method enables a progressively detailed inspection from general survey to detailed survey and then to detailed inspection, ensuring the safe operation of the stilling basin of the high-arch dam.

[0044] Step S107: Based on the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage, defects in the bottom slab of the energy dissipation pond subject to the inspection are determined.

[0045] This invention aims to achieve efficient collection, identification, and health diagnosis of defects in the bottom slab of stilling ponds in complex underwater environments by combining a first-stage general survey, a second-stage detailed inspection, and a third-stage precise inspection during routine inspections of stilling ponds.

[0046] In one preferred embodiment, the results of the first stage general inspection, the second stage detailed inspection, and the third stage precise inspection are combined to obtain a combined inspection result for the stilling pond subject to inspection.

[0047] Based on the results of the combined patrol inspection of the water dissipation ponds subject to the patrol inspection, the location, type, and scale of defects in the bottom slab of the water dissipation ponds subject to the patrol inspection are determined.

[0048] Specifically, in this embodiment, the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precision inspection in the third stage are combined to obtain a combined inspection result for the water dissipation pond being inspected. In actual applications, data fusion technology can be used to comprehensively analyze multiple source data collected by various devices at various stages and combine it with various inspection results to determine defects in the water dissipation pond being inspected, thereby improving the accuracy and reliability of the inspection results.

[0049] In this embodiment, the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precision inspection in the third stage are combined to generate comprehensive inspection results, thereby obtaining a combined inspection result for the stilling basin under inspection. By combining and analyzing these inspection results, defects in the bottom slab of the stilling basin under inspection, such as defect location, defect type, and defect size, can be determined more comprehensively and accurately. This not only improves the accuracy and reliability of the inspection results but also provides detailed data support for subsequent repairs and maintenance, ensuring the long-term safe and stable operation of the stilling basin of the high-arch dam.

[0050] In one preferred embodiment, the first acquisition device is a multi-beam underwater three-dimensional sonar device, and the step of acquiring a tomographic image of the bottom slab of the stilling pond to be inspected by the first acquisition device is: The steps include: collecting multi-beam ultrasonic data of the bottom slab of the stilling pond subject to the patrol inspection using the multi-beam underwater three-dimensional sonar device; The procedure includes the step of creating a tomographic image of the bottom slab of the stilling pond subject to the periodic inspection, based on the multi-beam ultrasound data.

[0051] Specifically, in this embodiment, the first acquisition device is a multi-beam underwater three-dimensional sonar device, and the step of acquiring a tomographic image of the bottom slab of the stilling pond to be inspected by the first acquisition device is, The procedure further includes the step of collecting multibeam ultrasonic data of the bottom slab of the stilling pond under inspection using a multibeam underwater three-dimensional sonar system. Specifically, the multibeam underwater three-dimensional sonar system transmits and receives ultrasonic signals in multiple directions and angles, and through the reflection and refraction of these signals, detailed echo data of the bottom slab of the stilling pond under inspection can be obtained. This ultrasonic data includes surface structure information of the bottom slab and provides foundational data for subsequent image creation.

[0052] Based on the multibeam ultrasound data, a tomographic image of the bottom slab of the well-dissipating basin subject to inspection is created. Once data acquisition is complete, advanced image processing algorithms and sonar data analysis techniques are used to convert the multibeam ultrasound data into a tomographic image. The tomographic image displays the structure of the bottom slab in high resolution, clearly indicating the location of potential defects in the bottom slab of the well-dissipating basin subject to inspection. Figure 2 shows a tomographic image of the bottom slab of the well-dissipating basin subject to inspection, collected by a multibeam underwater three-dimensional sonar system, where the area enclosed by the dotted line is the area of ​​type 1 defects.

[0053] In one preferred embodiment, the step of performing a first-stage general inspection on the bottom slab of the stilling pond subject to the periodic inspection based on a tomographic image of the bottom slab, and obtaining the periodic inspection results of the first-stage general inspection, The steps include obtaining coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The defective region is marked in the tomographic image, and image feature analysis is performed on the defective region; The steps include determining the defect type, defect location, and defect size of the first type defect in the defect region based on the image feature analysis results of the defect region and the coordinate data of all sites in the bottom slab of the stilling pond subject to the periodic inspection, The process includes the step of determining the defect type, defect location, and defect size of the first type of defect in the defect region as the result of the routine inspection of the first stage general inspection.

[0054] Specifically, coordinate data for all sites in the bottom slab of the stilling ponds subject to patrol inspection will be acquired using the Global Positioning System (GPS). By using the GPS's high-precision positioning technology, each site in the bottom slab can be accurately identified, ensuring the accuracy of the coordinate information for each detected location and providing a geographical reference for subsequent defect location identification and analysis.

[0055] Furthermore, defective areas are marked in the tomographic images, and image feature analysis is performed on these defective areas. Advanced image processing algorithms are used to analyze the tomographic images and identify areas where defects may exist. In practical applications, image feature analysis may include detailed analysis of the shape, size, and edge features of defects such as cracks, holes, erosion, and silt, in order to accurately describe the nature of the defects.

[0056] Furthermore, based on the image feature analysis results of the defective area and the coordinate data of all sites on the bottom slab of the stilling pond subject to patrol inspection, the defect type, location, and size of the Type 1 defects in the defective area are determined. By combining the image feature analysis results and the site coordinate data, the specific location of each defect type on the bottom slab, as well as the actual size and severity of the defects, can be accurately determined.

[0057] The defect type, location, and size of the Type 1 defects in the aforementioned defect area are defined as the inspection results of the general inspection in the first stage. Finally, the information on the type, location, and size of the defects obtained through analysis is compiled to form the complete inspection results of the general inspection in the first stage, providing important reference material for the detailed investigation in the next stage, the second stage. As shown in Figure 2, the area enclosed by the dotted circle is the area of ​​the Type 1 defects. Through Figure 2, the defect type, location, and size of the Type 1 defects in the bottom slab of the stilling pond being inspected can be determined more intuitively.

[0058] In one preferred embodiment, the second collection device is an unmanned underwater vehicle, and the step of collecting an external image of the bottom slab of the stilling pond under inspection by the second collection device based on the results of the patrol inspection of the first stage general inspection is as follows: The steps include determining the first survey line configuration of the unmanned underwater vehicle based on the results of the general inspection in the first stage, The steps include: using the unmanned underwater vehicle to collect two-dimensional sonar images of the bottom slab of the stilling pond to be inspected, in accordance with the first inspection route planned by the first survey line arrangement; The procedure includes the steps of determining the defective areas of the bottom slab of the stilling pond to be inspected based on the two-dimensional sonar image, and collecting an image of the appearance of the defective areas using the unmanned underwater vehicle.

[0059] In this embodiment, the second collection device is an unmanned underwater vehicle, and the step of collecting external images of the bottom slab of the stilling pond subject to inspection by the second collection device, based on the results of the patrol inspection of the general inspection in the first stage, includes the following steps.

[0060] Based on the results of the first stage general inspection, the first inspection route of the unmanned underwater vehicle is determined. Using the defect area and location data obtained in the first stage general inspection, the inspection route of the unmanned underwater vehicle is determined, enabling the unmanned underwater vehicle to cover all important areas and conduct efficient and comprehensive inspections. In this embodiment, the inspection route diagram of the unmanned underwater vehicle is shown in Figure 3. Specifically, in this embodiment, the bottom slab of the stilling basin to be inspected is divided into multiple inspection areas by collecting defect area and location data obtained in the first stage general inspection. These areas may be divided according to the geometric shape and structural characteristics of the stilling basin to ensure that each area is covered. Next, the defect areas are prioritized according to the severity and distribution density of the first type of defect. Areas with serious and dense defects are prioritized, and these areas are covered by the inspection route, and the inspection route of the unmanned underwater vehicle is planned according to the area division and defect priority. Furthermore, the inspection lines must cover all defective areas, and major scans must be performed in these areas.

[0061] An unmanned underwater vehicle will collect two-dimensional sonar images of the bottom slab of the well-dispersing basin under inspection, following the first inspection route planned by the first survey line configuration. The unmanned underwater vehicle is equipped with advanced two-dimensional sonar equipment and can accurately collect sonar images of the bottom slab of the well-dispersing basin under inspection along the predetermined route. These images allow for the confirmation of surface details and potential defects of the bottom slab.

[0062] Based on two-dimensional sonar images, defective areas in the bottom slab of the well-dissipating basin under inspection are determined, and an unmanned underwater vehicle collects visual images of these defective areas. The defective areas of the bottom slab are further confirmed by analyzing the two-dimensional sonar images. Subsequently, the unmanned underwater vehicle collects more detailed images of these defective areas, obtaining high-resolution visual images to provide more intuitive defect information.

[0063] In this embodiment, the use of an unmanned underwater vehicle significantly improves the efficiency and accuracy of the patrol inspection. Detailed survey line layout and patrol inspection route planning ensure that all critical areas of the bottom slab of the stilling pond being inspected are covered. Furthermore, combining two-dimensional sonar images with visual images provides comprehensive and accurate defect information, as well as more detailed image data for subsequent precise inspections.

[0064] In one preferred embodiment, the step of performing a second-stage detailed inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the appearance image, and obtaining the patrol inspection results of the second-stage detailed inspection, The steps include obtaining coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The steps include: performing image feature analysis on the appearance image of the defect region to obtain the image feature analysis results of the appearance image; The steps include determining the defect type, defect location, and defect size of the second type defect in the defect area based on the image feature analysis results of the aforementioned external image and the coordinate data of all sites in the bottom slab of the energy dissipation pond subject to the periodic inspection, The step includes determining the defect type, defect location, and defect size of the second type of defect in the defect region as the result of the circulating inspection of the second stage detailed inspection.

[0065] Specifically, coordinate data for all sites of the bottom slab of the well-dissipating pond subject to the aforementioned periodic inspection will be acquired using the Global Positioning System (GPS). By utilizing the high-precision positioning technology of the GPS, all sites of the bottom slab can be accurately identified, ensuring the accuracy of the acquired coordinate data and providing a geographical reference for identifying and resolving defects.

[0066] Furthermore, image feature analysis is performed on the external image of the defective region to obtain the image feature analysis results of the external image. An advanced image processing algorithm analyzes the defective region in the external image in detail, and specific image features such as the shape, size, and edge characteristics of the second type of defect are extracted.

[0067] Furthermore, based on the image feature analysis results of the aforementioned external image and the coordinate data of all sites in the bottom slab of the energy dissipation pond subject to the patrol inspection, the defect type, defect location, and defect size of the second type defect in the defect area are determined. By combining the image feature analysis results and the site coordinate data, the precise location of each specific type of defect in the bottom slab, as well as the defect size and severity, can be accurately determined.

[0068] Furthermore, the defect type, location, and size of the second type of defect in the defect region are included in the results of the detailed inspection in the second stage. Finally, the information on defect type, location, and size obtained through the analysis is compiled to form the complete detailed inspection results for the second stage. These results provide detailed data support for subsequent precision inspections.

[0069] In one preferred embodiment, the third acquisition device is a dual-mode underwater detection robot, and the step of acquiring fine images of the bottom slab of the stilling pond under inspection by the third acquisition device based on the results of the patrol inspection of the detailed inspection of the second stage is as follows: The steps include determining the second survey line configuration of the dual-mode underwater detection robot based on the results of the detailed inspection in the second stage, The steps include: using the dual-mode underwater detection robot to perform dredging-water replacement on a preset target area in the second patrol inspection route, according to the second patrol inspection route planned by the second survey line arrangement; The procedure includes the step of collecting fine images of the pre-set target area after dredging-water replacement using the dual-mode underwater detection robot.

[0070] Specifically, in this embodiment, the third acquisition device is a dual-mode underwater detection robot, and the step of acquiring fine images of the bottom slab of the stilling pond to be inspected by the third acquisition device based on the results of the detailed inspection in the second stage includes the following steps:

[0071] Based on the results of the detailed inspection in the second stage, the second inspection route for the dual-mode underwater detection robot will be determined. Using the defect area and location data obtained from the detailed inspection in the second stage, the inspection route for the dual-mode underwater detection robot will be planned to ensure that the detection robot covers all important areas and can conduct efficient and accurate inspections. Specifically, the defect area and location data obtained from the detailed inspection in the second stage will be collected, and the bottom slab of the stilling pond to be inspected will be divided into multiple inspection areas. Defect areas will be prioritized according to the severity and distribution density of Type 2 defects. Areas with serious and densely concentrated defects will be given priority. Then, based on the defect area and location data obtained from the detailed inspection in the second stage, the inspection route for the dual-mode underwater detection robot will be planned. It will be confirmed that all important areas are covered, and emphasis will be placed on dredging-replacement, scanning, etc. in these areas.

[0072] As shown in Figure 4, a schematic diagram of the third stage of precision inspection of the dual-mode underwater detection robot according to this embodiment is shown. The areas enclosed by solid lines are defect areas requiring precision inspection, and the arrangement of inspection lines for the dual-mode underwater detection robot is planned for each area.

[0073] The dual-mode underwater detection robot performs dredging and water replacement on pre-defined target areas along the second inspection route, as planned by the second survey line configuration. Before collecting fine images, the dual-mode underwater detection robot performs dredging and water replacement in the pre-defined target areas to remove silt and impurities from the surface of the bottom slab, ensuring that the collected images are clear and interference-free. This process significantly improves the accuracy and reliability of the inspection results.

[0074] The dual-mode underwater detection robot collects fine images of the pre-defined target area after the dredging and water replacement process. Once the dredging and water replacement process is complete, the dual-mode underwater detection robot collects fine images of the target area using high-resolution imaging equipment. These fine images reveal the specific structure and defects of the bottom slab at a microscopic level, providing highly accurate data for final detailed inspection.

[0075] In one preferred embodiment, the step of performing a third-stage detailed inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the fine image, and obtaining the patrol inspection results of the third-stage detailed inspection, The steps include obtaining coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The steps include: performing image feature analysis on the aforementioned fine image to obtain the image feature analysis results of the aforementioned fine image; The steps include determining the defect type, defect location, and defect size of the third type defect in the fine image based on the image feature analysis results of the fine image and the coordinate data of all sites in the bottom slab of the stilling pond subject to the periodic inspection, The procedure includes the step of determining the defect type, defect location, and defect size of the third type of defect in the aforementioned fine image as the result of the circulating inspection of the third stage of detailed inspection.

[0076] Specifically, in this embodiment, coordinate data for all sites of the bottom slab of the stilling pond subject to the patrol inspection is acquired using the Global Positioning System. By using the high-precision positioning technology of the Global Positioning System, each site of the bottom slab can be accurately identified, ensuring the accuracy of the acquired coordinate data and providing a geographical reference for defect location identification and analysis.

[0077] Furthermore, image feature analysis is performed on the fine images to obtain the results of the image feature analysis of the fine images. Using advanced image processing algorithms, the defect regions in the fine images are analyzed in detail, and specific image features such as the shape, size, and edge characteristics of the third type of defect are extracted.

[0078] Furthermore, based on the image feature analysis results of the micro-images and the coordinate data of all sites on the bottom slab of the stilling ponds subject to patrol inspection, the defect type, location, and size of the third type of defect in the micro-images are determined. By combining the image feature analysis results and the site coordinate data, the specific location of each defect type on the bottom slab, as well as the size and severity of the defect, can be accurately determined.

[0079] The defect type, location, and size of Type 3 defects within the fine images will be used as the results of the third stage detailed inspection. Finally, the defect type, location, and size information obtained through analysis will be compiled to form the complete inspection results for the third stage detailed inspection. These results will provide detailed data support for safety assessment and maintenance of the high-arch dam stilling basin, ensuring that all potential defects are detected and corrected in a timely manner.

[0080] In one preferred embodiment, after pumping water from the water-dissipating pond subject to the patrol inspection and dredging it, the method is performed as follows: The steps include: fully scanning the bottom slab of the water dissipation pond subject to the patrol inspection using a three-dimensional laser scanner to obtain three-dimensional data of the bottom slab of the water dissipation pond subject to the patrol inspection; The steps include: performing data analysis on the three-dimensional data of the bottom slab of the water dissipation pond subject to the aforementioned periodic inspection to determine the three-dimensional data of defects in the bottom slab of the water dissipation pond subject to the aforementioned periodic inspection; The procedure further includes verifying the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage, based on three-dimensional data of defects in the bottom slab of the stilling pond subject to the aforementioned periodic inspection.

[0081] Specifically, this embodiment provides a method for verifying the accuracy of the inspection results of the three types of inspection methods described above. Specifically, after pumping water from the stilling pond to be inspected and dredging it, the bottom slab of the stilling pond after dredging is fully scanned with a three-dimensional laser scanner to obtain high-precision three-dimensional data. This data can fully reflect the actual condition of the bottom slab, including its shape and surface characteristics.

[0082] Furthermore, data analysis is performed on the three-dimensional data of the bottom slab of the water dissipation ponds subject to inspection to determine the three-dimensional data of defects in the bottom slab of the water dissipation ponds subject to inspection. By analyzing the three-dimensional data in detail, three-dimensional information of various defects in the bottom slab, including the specific location, depth, and area of ​​the defects, is identified and determined. This step provides a comprehensive understanding of the defects and reliable data support for subsequent verification and analysis.

[0083] Furthermore, the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage are verified based on the three-dimensional data of defects in the bottom slab of the stilling ponds that are subject to inspection. The acquired three-dimensional defect data is verified by comparing it with the inspection results from the previous step to ensure the accuracy of each inspection result. Through these multiple verifications, the type, location, and scale of defects identified in each inspection can be confirmed, ensuring high reliability and consistency of the inspection results.

[0084] In this embodiment, the method of acquiring and analyzing three-dimensional data of the bottom slab using a three-dimensional laser scanner provides a comprehensive perspective and high-precision data support for patrol inspections. Three-dimensional data analysis not only allows for an intuitive display of the spatial distribution and geometric characteristics of defects in the bottom slab, but also provides a method for scientifically verifying the results of various patrol inspection stages.

[0085] In one preferred embodiment, a logic block diagram of an intelligent patrol inspection method for a high-arch dam's stilling basin is provided, as shown in Figure 5.

[0086] S1: First Stage General Inspection: The acquisition tool used for the first stage general inspection is a multibeam underwater three-dimensional sonar system, and the first stage general inspection is performed using the multibeam underwater three-dimensional sonar system.

[0087] S2: Detailed Inspection of Stage 2: The collection tool used for the detailed inspection of Stage 2 is an unmanned underwater vehicle, and the detailed inspection of Stage 2 is carried out by the unmanned underwater vehicle.

[0088] S3: Third Stage Detailed Inspection: The collection tool used for the third stage detailed inspection is a dual-mode underwater detection robot, and the third stage detailed inspection is performed by the dual-mode underwater detection robot.

[0089] S3.1: Dredging and Replacement: In the third stage of the precision inspection process, a dual-mode underwater detection robot is used to dredge and replace water in the target area.

[0090] S4: Comparative Verification: Using a three-dimensional laser scanner, the bottom slab of the stilling pond after dredging will be fully scanned to obtain high-precision three-dimensional data, which will then be compared and verified against the results of the general inspection in S1 (Stage 1), the detailed inspection in S2 (Stage 2), and the precise inspection in S3 (Stage 3).

[0091] Embodiments of the present application provide an intelligent patrol inspection method for a high-arch dam's basin, the method comprising: collecting a tomographic image of the bottom slab of the basin to be inspected using a first acquisition device; performing a first-stage general inspection on the bottom slab of the basin to be inspected based on the tomographic image of the bottom slab to be inspected to obtain the patrol inspection results of the first-stage general inspection; collecting an external image of the bottom slab of the basin to be inspected using a second acquisition device based on the patrol inspection results of the first-stage general inspection; and performing a second-stage detailed inspection on the bottom slab of the basin to be inspected based on the external image. The present invention includes the steps of: conducting an inspection to obtain the results of the detailed inspection in the second stage; collecting fine images of the bottom slab of the stilling pond to be inspected using a third acquisition device based on the results of the detailed inspection in the second stage; conducting a precise inspection in the third stage on the bottom slab of the stilling pond to be inspected based on the fine images to obtain the results of the precise inspection in the third stage; and determining defects in the bottom slab of the stilling pond to be inspected based on the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage. In this invention, when conducting inspections of a stilling pond, the combination of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage enables efficient collection, identification, and soundness diagnosis of defects in the bottom slab of the stilling pond in a complex underwater environment.

[0092] Based on the same inventive concept, a second embodiment of the present application provides an intelligent patrol inspection device for a high-arch dam's stilling basin, as shown in Figure 6, the device, A first acquisition module 201 is used to collect fault images of the bottom slab of a stilling pond that is subject to routine inspection using a first acquisition device, A first-stage general inspection module 202 is used to perform a first-stage general inspection on the bottom slab of the stilling pond subject to the periodic inspection based on the tomographic image of the bottom slab, and to obtain the periodic inspection results of the first-stage general inspection, Based on the results of the general inspection in the first stage, a second collection module 203 is used to collect an external image of the bottom slab of the stilling pond that is the subject of the inspection using a second collection device, A second-stage detailed inspection module 204 is used to perform a second-stage detailed inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the aforementioned external image, and to obtain the patrol inspection results of the second-stage detailed inspection. A third acquisition module 205 is used to collect fine images of the bottom slab of the stilling pond subject to the inspection by a third acquisition device, based on the results of the detailed inspection in the second stage described above. A third-stage precision inspection module 206 is used to perform a third-stage precision inspection on the bottom slab of the stilling pond that is subject to the patrol inspection based on the aforementioned fine image, and to obtain the patrol inspection results of the third-stage precision inspection. The system includes a determination module 207 used to determine defects in the bottom slab of the energy dissipation pond subject to inspection, based on the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage.

[0093] In the optional step of determining defects in the bottom slab of the energy dissipation pond subject to inspection based on the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage, the determination module 207: A fusion submodule used to obtain a fused patrol inspection result of the energy dissipation pond subject to patrol inspection by fusing the patrol inspection results of the general inspection in the first stage, the patrol inspection results of the detailed inspection in the second stage, and the patrol inspection results of the precise inspection in the third stage, The system includes a first determination submodule used to determine the location, type, and scale of defects in the bottom slab of the water dissipation basin subject to inspection, based on the results of a combined inspection of the water dissipation basin subject to inspection.

[0094] Optionally, the first acquisition device is a multi-beam underwater three-dimensional sonar device, and in the step of acquiring tomographic images of the bottom slab of the stilling pond to be inspected by the first acquisition device, the first acquisition module is: A first acquisition submodule used to collect multibeam ultrasonic data of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the multibeam underwater three-dimensional sonar device, The system includes a creation submodule used to create a tomographic image of the bottom slab of the well-dissipating basin subject to the periodic inspection, based on the multi-beam ultrasound data.

[0095] In the step in which, optionally, a first-stage general inspection is performed on the bottom slab of the stilling pond subject to the periodic inspection based on the tomographic image of the bottom slab, and the periodic inspection results of the first-stage general inspection are obtained, the first-stage general inspection module 202 is: A first acquisition submodule used to acquire coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, A first feature analysis submodule used to mark defective regions in the aforementioned tomographic image and to perform image feature analysis on the said defective regions, A second determination submodule used to determine the defect type, defect location, and defect size of a first type defect in the defect region, based on the image feature analysis results of the defect region and the coordinate data of all sites of the bottom slab of the stilling pond subject to the periodic inspection. The system includes a third determination submodule used to determine the defect type, defect location, and defect size of the first type of defect in the defect region as the result of the patrol inspection of the first stage general inspection.

[0096] Optionally, the second collection device is an unmanned underwater vehicle, and in the step of collecting external images of the bottom slab of the stilling pond subject to the inspection by the second collection device based on the results of the patrol inspection of the first stage general inspection, the second collection module 203 is: A fourth determination submodule used to determine the first survey line configuration of the unmanned underwater vehicle based on the results of the patrol inspection of the first stage general inspection, A second acquisition submodule is used by the unmanned underwater vehicle to collect two-dimensional sonar images of the bottom slab of the stilling pond to be inspected, in accordance with the first inspection route planned by the first survey line arrangement, The system includes a fifth determination submodule used to determine defective areas in the bottom slab of the energy dissipation pond subject to inspection based on the two-dimensional sonar images, and to collect visual images of the defective areas using the unmanned underwater vehicle.

[0097] In the step in which, optionally, a second-stage detailed inspection is performed on the bottom slab of the stilling pond subject to the patrol inspection based on the aforementioned external image, and the patrol inspection results of the second-stage detailed inspection are obtained, the second-stage detailed inspection module 204 is: A second acquisition submodule used to acquire coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, Image feature analysis is performed on the external image of the defective region to obtain the image feature analysis results of the external image. A second feature analysis submodule used to determine the defect type, defect location, and defect size of a second type defect in the defect region, based on the image feature analysis results of the aforementioned external image and the coordinate data of all sites in the bottom slab of the energy dissipation pond subject to the periodic inspection. The system includes a sixth determination submodule used to determine the defect type, defect location, and defect size of a second type defect in the defect region as the result of the circulating inspection of the second stage detailed inspection.

[0098] Optionally, the third acquisition device is a dual-mode underwater detection robot, and in the step of acquiring fine images of the bottom slab of the stilling pond being inspected by the third acquisition device based on the results of the detailed inspection in the second stage, the third acquisition module 205, A seventh determination submodule used to determine the second survey line configuration of the dual-mode underwater detection robot based on the results of the detailed inspection in the second stage, A processing submodule used by the dual-mode underwater detection robot to perform dredging-water replacement processing on a preset target area in the second patrol inspection route according to the second inspection route planned by the second survey line arrangement, The dual-mode underwater detection robot includes a third acquisition submodule used to collect fine images of the preset target area after dredging and water replacement.

[0099] In the step in which, optionally, a third-stage detailed inspection is performed on the bottom slab of the stilling pond subject to the patrol inspection based on the aforementioned fine image, and the patrol inspection results of the third-stage detailed inspection are obtained, the third-stage detailed inspection module 206 is: A third acquisition submodule used to acquire coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, A third feature analysis submodule used to perform image feature analysis on the aforementioned fine image and obtain the image feature analysis results of the aforementioned fine image, An eighth determination submodule used to determine the defect type, defect location, and defect size of a third type defect in the fine image, based on the image feature analysis results of the fine image and the coordinate data of all sites in the bottom slab of the watershed pond subject to the patrol inspection, The system includes a ninth determination submodule used to determine the defect type, location, and size of a third type defect in the aforementioned fine image as the result of the circulating inspection of the third stage of detailed inspection.

[0100] Optionally, the device may be: A scan submodule used to obtain three-dimensional data of the bottom slab of the water dissipation pond to be inspected by fully scanning the bottom slab of the water dissipation pond to be inspected using a three-dimensional laser scanner, A data analysis submodule used to perform data analysis on the three-dimensional data of the bottom slab of the water dissipation pond subject to the aforementioned periodic inspection, and to determine the three-dimensional data of defects in the bottom slab of the water dissipation pond subject to the aforementioned periodic inspection, The system further includes a verification submodule used to verify the results of the first stage general inspection, the second stage detailed inspection, and the third stage precise inspection, respectively, based on three-dimensional data of defects in the bottom slab of the stilling pond subject to the inspection.

[0101] Based on the same inventive structure, a third embodiment of the present application provides equipment 100 for an intelligent patrol inspection method for a high-arch dam stilling basin, as shown in Figure 7, which includes a memory 110, a processor 120, and a computer program stored in the memory 110, wherein the processor 120 executes the computer program to realize the intelligent patrol inspection method for a high-arch dam stilling basin described in the first embodiment of the present application.

[0102] Based on the same inventive concept, according to a fourth embodiment of the present invention, a computer-readable storage medium is provided which stores a computer program / instruction, and which, when executed by a processor, enables the intelligent patrol inspection method for a high-arch dam's stilling basin described in the first embodiment of the present invention.

[0103] Each example in this specification is described step by step, with each example focusing on its differences from the others, and identical and similar parts between the examples should be referred to from one another.

[0104] Those skilled in the art will understand that embodiments of the present application may be provided as methods, apparatus, or computer program products. Accordingly, embodiments of the present application may take the form of complete hardware embodiments, complete software embodiments, or embodiments combining software and hardware aspects. Alternatively, embodiments of the present application may take the form of computer program products implemented on one or more computer-readable storage media (including, but not limited to, magnetic disk memory, CD-ROM, optical memory, etc.) containing computer-readable program code.

[0105] Embodiments of the present application will be described with reference to flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products relating to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions are provided to the processor of a general-purpose computer, a dedicated computer, an embedded processor, or other programmable data processing terminal device, and the instructions executed by the processor of the computer or other programmable data processing terminal device can generate means to realize the functions specified in one flow of a flowchart or one or more blocks of a set of flows and / or block diagrams.

[0106] These computer program instructions may also be stored in computer-readable memory that can operate a computer or other programmable data processing terminal device in a particular way, thereby generating a product that includes instruction means to implement a function specified in one or more flows of a flowchart and / or one or more blocks of a block diagram.

[0107] These computer program instructions may be loaded onto a computer or other programmable data processing terminal device, thereby executing a series of operational steps on the computer or other programmable terminal device to generate computer implementation processing, and the instructions executed on the computer or other programmable terminal device provide steps to realize the functions specified in one or more flows of a flowchart and / or one or more blocks of a block diagram.

[0108] While preferred embodiments of the embodiments of this application have been described, those skilled in the art, knowing the basic creative concepts, can make additional changes and modifications to these embodiments. Therefore, the appended claims are intended to be construed as including all changes and modifications that fall within the scope of the preferred embodiments and embodiments of this application.

[0109] Finally, it should be noted that, in this specification, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply that such an actual relationship or order exists between these entities or operations. Furthermore, the terms "includes," "contains," or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device containing a set of elements also includes other elements not expressly described, or elements specific to such a process, method, article, or terminal device. Unless further limited, an element defined by the phrase "...contains" does not preclude the presence of other identical elements in the process, method, article, or terminal device containing that element.

[0110] The intelligent patrol inspection method, apparatus, equipment, and medium for the stilling basin of a high-arch dam according to the present invention have been described in detail above. While specific examples have been used to illustrate the principles and embodiments of the present application, the above description of embodiments is merely intended to aid in understanding the method and core concept of the present application. Furthermore, those skilled in the art will recognize that there are modifications in specific embodiments and scope of application based on the concept of the present application, and therefore, the contents of this specification should not be understood as limiting the present application.

Claims

1. An intelligent patrol inspection method for the stilling basin of a high arch dam, The aforementioned method, The steps include: collecting fault images of the bottom slab of the stilling pond subject to routine inspection using a first acquisition device; The steps include: performing a first-stage general inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the tomographic image of the bottom slab, and obtaining the patrol inspection results of the first-stage general inspection; Based on the results of the general inspection in the first stage, the process involves collecting an external image of the bottom slab of the energy dissipation pond subject to the inspection using a second collection device, Based on the aforementioned external image, a second-stage detailed inspection is performed on the bottom slab of the stilling pond subject to the patrol inspection, and the patrol inspection results of the second-stage detailed inspection are obtained. Based on the results of the detailed inspection in the second stage described above, a third step is to collect fine images of the bottom slab of the energy dissipation pond that is the subject of the inspection using a third acquisition device, Based on the aforementioned fine image, a third-stage detailed inspection is performed on the bottom slab of the stilling pond that is subject to the patrol inspection, and the patrol inspection results of the third-stage detailed inspection are obtained. An intelligent patrol inspection method for a high-arch dam's stilling basin, characterized by comprising the step of determining defects in the bottom slab of the stilling basin subject to patrol inspection based on the patrol inspection results of the first stage general inspection, the patrol inspection results of the second stage detailed inspection, and the patrol inspection results of the third stage precise inspection.

2. The step of determining defects in the bottom slab of the energy dissipation pond subject to inspection, based on the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage, is as follows: The steps include: combining the results of the general inspection in the first stage, the detailed inspection in the second stage, and the precise inspection in the third stage to obtain a combined inspection result for the stilling pond subject to inspection; An intelligent patrol inspection method for a high-arch dam's water dissipator, according to claim 1, comprising the step of determining the location, type, and scale of defects in the bottom slab of the water dissipator to be inspected, based on the results of a combined patrol inspection of the water dissipator to be inspected.

3. The first acquisition device is a multi-beam underwater three-dimensional sonar system, and the step of acquiring a tomographic image of the bottom slab of the stilling pond to be inspected by the first acquisition device is: The steps include: collecting multi-beam ultrasonic data of the bottom slab of the stilling pond subject to the patrol inspection using the multi-beam underwater three-dimensional sonar device; An intelligent inspection method for a high-arch dam's water dissipator, according to claim 1, comprising the step of creating a tomographic image of the bottom slab of the water dissipator to be inspected based on the multi-beam ultrasonic data.

4. The step of performing a first-stage general inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the fault image of the bottom slab, and obtaining the patrol inspection results of the first-stage general inspection, includes the step of acquiring coordinate data for all sites of the bottom slab of the stilling pond subject to the patrol inspection using the Global Positioning System, The steps include marking the defective region in the tomographic image and performing image feature analysis on the defective region, The steps include determining the defect type, defect location, and defect size of the first type defect in the defect region based on the image feature analysis results of the defect region and the coordinate data of all sites in the bottom slab of the stilling pond subject to the periodic inspection, An intelligent patrol inspection method for a high-arch dam's stilling basin according to claim 3, comprising the step of determining the defect type, defect location, and defect size of the first type of defect in the defect region as the patrol inspection result of the first stage general inspection.

5. The second collection device is an unmanned underwater vehicle, and the step of collecting an external image of the bottom slab of the stilling pond subject to the patrol inspection using the second collection device, based on the results of the patrol inspection of the general inspection of the first stage, The steps include determining the first survey line configuration of the unmanned underwater vehicle based on the results of the general inspection in the first stage, The steps include: using the unmanned underwater vehicle to collect two-dimensional sonar images of the bottom slab of the stilling pond to be inspected, in accordance with the first inspection route planned by the first survey line arrangement; An intelligent patrol inspection method for a high-arch dam's stilling basin according to claim 1, comprising the steps of determining a defective area of ​​the bottom slab of the stilling basin to be inspected based on the two-dimensional sonar image, and collecting an image of the appearance of the defective area using the unmanned underwater vehicle.

6. The step of performing a second-stage detailed inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the aforementioned external image, and obtaining the patrol inspection results of the second-stage detailed inspection, is as follows: The steps include obtaining coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The steps include: performing image feature analysis on the appearance image of the defect region to obtain the image feature analysis results of the appearance image; The steps include determining the defect type, defect location, and defect size of the second type defect in the defect region based on the image feature analysis results of the aforementioned external image and the coordinate data of all sites in the bottom slab of the energy dissipation pond subject to the periodic inspection, The intelligent patrol inspection method for a high-arch dam's stilling basin according to claim 5, comprising the step of determining the defect type, defect location, and defect size of a second type defect in the defect region as the patrol inspection result of the second detailed inspection.

7. The third acquisition device is a dual-mode underwater detection robot, and the step of acquiring fine images of the bottom slab of the stilling pond to be inspected by the third acquisition device based on the results of the detailed inspection in the second stage is as follows: The steps include determining the second survey line configuration of the dual-mode underwater detection robot based on the results of the detailed inspection in the second stage, The dual-mode underwater detection robot performs a dredging-water replacement process on a pre-set target area in the second patrol inspection route, according to the second patrol inspection route planned by the second survey line arrangement. An intelligent patrol inspection method for a high-arch dam's energy dissipator according to claim 1, comprising the step of collecting fine images of a preset target area after dredging-water replacement treatment using the dual-mode underwater detection robot.

8. The step of performing a third-stage detailed inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the aforementioned fine image, and obtaining the patrol inspection results of the third-stage detailed inspection, The steps include obtaining coordinate data for all sites of the bottom slab of the stilling pond subject to the aforementioned periodic inspection using the Global Positioning System, The steps include: performing image feature analysis on the aforementioned fine image to obtain the image feature analysis results of the aforementioned fine image; The steps include determining the defect type, defect location, and defect size of the third type defect in the fine image based on the image feature analysis results of the fine image and the coordinate data of all sites in the bottom slab of the energy dissipation pond that is subject to the patrol inspection, An intelligent patrol inspection method for a high-arch dam's stilling basin according to claim 7, comprising the step of using the defect type, defect location, and defect size of a third type defect in the fine image as the patrol inspection result of the third stage of detailed inspection.

9. After pumping water from the water-dissipating pond subject to the aforementioned patrol inspection and dredging it, the method described above is: The steps include: fully scanning the bottom slab of the water dissipation pond subject to the patrol inspection using a three-dimensional laser scanner to obtain three-dimensional data of the bottom slab of the water dissipation pond subject to the patrol inspection; The steps include: performing data analysis on the three-dimensional data of the bottom slab of the water dissipation pond subject to the aforementioned periodic inspection to determine the three-dimensional data of defects in the bottom slab of the water dissipation pond subject to the aforementioned periodic inspection; An intelligent patrol inspection method for a high-arch dam's stilling basin according to claim 1, further comprising the step of verifying the patrol inspection results of the first stage general inspection, the patrol inspection results of the second stage detailed inspection, and the patrol inspection results of the third stage precision inspection, based on three-dimensional data of defects in the bottom slab of the stilling basin subject to the patrol inspection.

10. An intelligent patrol inspection device for the stilling basin of a high arch dam, The aforementioned device is A first acquisition module used to collect fault images of the bottom slab of a stilling pond subject to routine inspection using a first acquisition device, A first-stage general inspection module used to perform a first-stage general inspection on the bottom slab of the stilling pond subject to the periodic inspection based on the tomographic image of the bottom slab, and to obtain the periodic inspection results of the first-stage general inspection, A second collection module is used to collect external images of the bottom slab of the stilling pond subject to the aforementioned first stage general inspection using a second collection device, based on the results of the patrol inspection. A second-stage detailed inspection module is used to perform a second-stage detailed inspection on the bottom slab of the stilling pond subject to the patrol inspection based on the aforementioned external image, and to obtain the patrol inspection results of the second-stage detailed inspection. A third acquisition module is used to collect fine images of the bottom slab of the stilling pond, which is the subject of the inspection, using a third acquisition device, based on the results of the detailed inspection in the second stage described above. A third-stage precision inspection module is used to perform a third-stage precision inspection on the bottom slab of the stilling pond that is the subject of the patrol inspection based on the aforementioned fine image, and to obtain the patrol inspection results of the third-stage precision inspection. An intelligent patrol inspection device for a high arch dam's watering basin, comprising a determination module used in an intelligent patrol inspection device for a high arch dam's watering basin, characterized in that it determines defects in the bottom slab of the watering basin subject to patrol inspection based on the patrol inspection results of the first stage general inspection, the patrol inspection results of the second stage detailed inspection, and the patrol inspection results of the third stage precise inspection.

11. Apparatus for an intelligent patrol inspection method of a high-arch dam's stilling basin, comprising memory, a processor, and a computer program stored in the memory, The device is characterized in that the processor, by executing the computer program, realizes the intelligent patrol inspection method for the stilling basin of a high-arch dam described in any one of claims 1 to 9.

12. A computer-readable storage medium in which computer programs / instructions are stored, A computer-readable storage medium characterized in that, when executed by a processor, the computer program / instruction realizes an intelligent patrol inspection method for a high-arch dam's stilling basin as described in any one of claims 1 to 9.

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