The invention relates to the technical field of
underwater operation equipment, solves the problems that existing dam
underwater crack repairing depends on divers or complex equipment, the
automation degree is low, the construction period is long, the comprehensive cost is high and the adaptability is poor, and particularly relates to concrete dam
underwater crack repairing and leaking stoppage equipment which comprises a
robot for underwater
cruise, and the
robot comprises a
machine body; the
cruise vision module comprises a foresight navigation lens group, a look-around lens group, a bottom wide-angle lens, an
active illumination system, an
obstacle avoidance sonar system and a topographic mapping
sonar; the crack detection module comprises a crack scanning ultrasonic
detector, a high-resolution strip-shaped scanning lens group, a
laser ray scanner, a multispectral imager, a
laser distance measuring sensor, a
water flow sensor and an attitude sensor, the crack repairing module comprises two groups of mechanical arms for
punching and grouting, and the central controller controls the
robot to execute. Crack filling, structure bonding
recovery and long-acting sealing are achieved, and meanwhile the construction difficulty and the comprehensive cost are reduced.