CN108195325A - A kind of hydroelectric power plant's Dam Crack detecting system and method based on crusing robot - Google Patents
A kind of hydroelectric power plant's Dam Crack detecting system and method based on crusing robot Download PDFInfo
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- CN108195325A CN108195325A CN201711290045.7A CN201711290045A CN108195325A CN 108195325 A CN108195325 A CN 108195325A CN 201711290045 A CN201711290045 A CN 201711290045A CN 108195325 A CN108195325 A CN 108195325A
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- crack
- crusing robot
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- hydroelectric power
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention discloses a kind of hydroelectric power plant's Dam Crack detecting systems and method based on crusing robot.The system includes monitoring backstage, crusing robot and the crack detecting device being arranged at Dam Crack, the crack detecting device includes controller, power module, data acquisition unit, wireless communication module and the fracture detecting instrument on crack, the controller is electrically connected respectively with power module, data acquisition unit and wireless communication module, the data acquisition unit is also electrically connected with fracture detecting instrument, and the crusing robot can be carried out wireless communication with monitoring backstage, crack detecting device.The present invention monitors crack in real time by being arranged on the crack detecting device at each crack, crusing robot regular visit obtains crack data at crack detecting device, and it is forwarded to monitoring backstage, it is achieved thereby that the automatic monitoring in crack, change the mode of previous personal monitoring, reduce labor intensity, realize the intelligent, unmanned of inspection.
Description
Technical field
The present invention relates to Dam Crack detection technique field more particularly to a kind of hydroelectric power plant's dams based on crusing robot
Crack detection system and method.
Background technology
Hydraulic power plant's dam safety is the most important thing, usually relies on artificial periodic measurement to Dam Crack detection at present,
A large amount of manpowers, and inefficiency are expended, and is susceptible to operation maintenance personnel inspection not in time or the situation of careless and inadvertent missing inspection.With
The development of science and technology, equipment is intelligent, the raising of the level of informatization, to ensure dam safety stable operation, it is necessary to which waterpower is sent out
Each important crack is monitored automatically in power plant, ensures the safety of hydraulic power plant.
Invention content
In order to solve the above technical problems, The present invention provides a kind of hydroelectric power plant's Dam Crack inspections based on crusing robot
Examining system and method monitor crack in real time by being arranged on the crack detecting device at each crack, and crusing robot is regular
Inspection obtains crack data at crack detecting device, and is forwarded to monitoring backstage, it is achieved thereby that the automatic monitoring in crack, changes
Become the mode of previous personal monitoring, reduced labor intensity, realize the intelligent, unmanned of inspection.
To solve the above-mentioned problems, the present invention is achieved by the following scheme：
A kind of hydroelectric power plant's Dam Crack detecting system based on crusing robot of the present invention, including monitoring backstage, inspection
Robot and the crack detecting device being arranged at Dam Crack, the crack detecting device include controller, power module, number
According to collecting unit, wireless communication module and the fracture detecting instrument on crack, the controller respectively with power module, number
It is electrically connected according to collecting unit and wireless communication module, the data acquisition unit is also electrically connected with fracture detecting instrument, the inspection
Robot can be carried out wireless communication with monitoring backstage, crack detecting device.
In the technical program, the flaw size of data acquisition unit acquisition fracture detecting instrument detection, and send it to
Controller, the crack data that controller storage receives.Crusing robot is moved according to preset path, is reached successively preset
Each Crack Detection position of hydroelectric power plant.When crusing robot is moved to some Crack Detection position, crusing robot is with being somebody's turn to do
Crack detecting device at Crack Detection position carries out wireless communication, which sends the flaw size detected
To crusing robot, crusing robot is by the flaw size data forwarding received to monitoring backstage.Monitoring backstage is to receiving
Flaw size data establish database, form tendency chart, and judged, report sent out when flaw size is more than setting value
It is alert, notice operation maintenance personnel processing.
Preferably, the fracture detecting instrument includes testing agency and two expansion anchor rods, the testing agency includes set
Pipe and transmission lever, the transmission lever left end are all connected with from casing right end plug-in-sleeve, described sleeve pipe left end and transmission lever right end
Universal ball joint, the universal ball joint are equipped with fixing bolt, and the fixing bolt is matched with the screw hole on expansion anchor rod, institute
The displacement detection module that detection transmission lever displacement is equipped in casing is stated, institute's displacement detection module is electrically connected with data acquisition unit
It connects.
In use, two expansion anchor rods are respectively embedded into Dam Crack both sides, two fixing bolts expand respectively with two
Anchor pole is fixedly connected.During the deformation of crack, the distance between two expansion anchor rods change, and position occurs between transmission lever and casing
It moves, the displacement detection module detection transmission lever displacement in casing, and sends it to data acquisition unit, data acquisition unit will
Displacement data is sent to controller.
Preferably, the transmission lever is equipped with positioning pin, described sleeve pipe right end is equipped with and the matched locating slot of positioning pin.
Prevent the length in transmission lever plug-in-sleeve from going beyond the limit.
Preferably, being additionally provided with temperature sensor in described sleeve pipe, the temperature sensor is electrically connected with data acquisition unit
It connects.Temperature sensor detects environment temperature, and sends it to data acquisition unit, and data acquisition unit sends temperature data
To controller.When crusing robot is moved to nearby, the temperature data detected is sent to survey monitor by crack detecting device
The temperature data received is forwarded to monitoring backstage by device people, crusing robot.
Preferably, the power module includes accumulator, voltage transformation module, solar panel and management of charging and discharging
Module, the input terminal of the voltage transformation module are electrically connected with alternating current, the management of charging and discharging module respectively with voltage modulus of conversion
Output terminal, accumulator, solar panel and the controller electrical connection of block.Alternating current can be converted to direct current by voltage transformation module
Pressure charges a battery, and solar panel can convert the solar into electric energy and charge a battery, and accumulator is supplied to controller
Electricity, management of charging and discharging module management accumulator cell charging and discharging.
A kind of hydroelectric power plant's Dam Crack detection method based on crusing robot of the present invention, is based on for above-mentioned one kind
Hydroelectric power plant's Dam Crack detecting system of crusing robot, includes the following steps：
S1：Crusing robot scans surrounding terrain by three-dimensional laser navigation positional device, with pre-stored hydroelectric power plant
Topographic map is matched, and calculates the current coordinate position of crusing robot；
S2：Crusing robot is moved according to preset path, reaches each Crack Detection position of preset hydroelectric power plant successively
It puts；
S3：When crusing robot is moved to some Crack Detection position, at crusing robot and the Crack Detection position
Crack detecting device carry out wireless communication, which is sent to crusing robot by the flaw size detected,
Robot is by the flaw size data forwarding received to monitoring backstage；
S4：Monitoring backstage establishes the flaw size data received database, forms tendency chart, and judged, when
Flaw size sends out alarm when being more than setting value.
Preferably, the method for crack detecting device detection flaw size includes the following steps：Using formula Ji=K (Fi-
F0 the deformation values of fracture detecting instrument) are calculated, calculate flaw size according to the deformation values of fracture detecting instrument, Ji is Crack Detection
The deformation values of instrument, K are the calibration coefficient of fracture detecting instrument, and Fi is the current output modulus value of fracture detecting instrument, and F0 is examined for crack
Survey instrument offset output modulus value.
The beneficial effects of the invention are as follows：Crack is monitored in real time by being arranged on the crack detecting device at each crack, is patrolled
Inspection robot regular visit obtains crack data, and be forwarded to monitoring backstage at crack detecting device, it is achieved thereby that crack
Automatic monitoring, change the mode of previous personal monitoring, reduce labor intensity, realize the intelligent, unmanned of inspection.
Description of the drawings
Fig. 1 is a kind of circuit theory connection block diagram of the present invention；
Fig. 2 is the structure diagram of testing agency；
Fig. 3 is the scheme of installation of fracture detecting instrument；
Fig. 4 is the internal structure schematic diagram of displacement detection module.
In figure：1st, monitoring backstage, 2, crusing robot, 3, crack detecting device, 4, controller, 5, data acquisition unit,
6th, wireless communication module, 7, fracture detecting instrument, 8, testing agency, 9, expansion anchor rod, 10, casing, 11, transmission lever, 12, spherical shape ten thousand
Xiang Jie, 13, fixing bolt, 14, positioning pin, 15, locating slot, 16, temperature sensor, 17, accumulator, 18, voltage transformation module,
19th, solar panel, 20, management of charging and discharging module, 21, vibratory string, 22, exciting and signal pickup device, 23, vibratory string clamping dress
It puts, 24, inductor, 25, tension spring, 26, pull rod, 27, sealing shell.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment：A kind of hydroelectric power plant's Dam Crack detecting system based on crusing robot of the present embodiment, such as Fig. 1 institutes
Show, wrapped including monitoring backstage 1, crusing robot 2 and the crack detecting device 3 being arranged at Dam Crack, crack detecting device 3
Include the fracture detecting instrument 7 that controller 4, power module, data acquisition unit 5, wireless communication module 6 are mounted on crack, control
Device 4 is electrically connected respectively with power module, data acquisition unit 5 and wireless communication module 6, and the data acquisition unit 5 is also with splitting
Seam detector 7 is electrically connected, and crusing robot 2 can be carried out wireless communication with monitoring backstage 1, crack detecting device 3.
The flaw size of data acquisition unit acquisition fracture detecting instrument detection, and controller is sent it to, controller is deposited
Store up the crack data received.Crusing robot is moved according to preset path, is reached each of preset hydroelectric power plant successively and is split
Stitch test position.When crusing robot is moved to some Crack Detection position, at crusing robot and the Crack Detection position
Crack detecting device carry out wireless communication, which is sent to crusing robot by the flaw size detected,
Crusing robot is by the flaw size data forwarding received to monitoring backstage.Monitoring backstage is to the flaw size data that receive
Database is established, forms tendency chart, and judged, alarm is sent out when flaw size is more than setting value, notifies operation maintenance personnel
Processing.
As shown in Figure 2 and Figure 3, fracture detecting instrument includes testing agency 8 and two expansion anchor rods 9, and testing agency 8 includes set
Pipe 10 and transmission lever 11,11 left end of transmission lever is from 10 right end plug-in-sleeve 10 of casing, and 10 left end of casing and 11 right end of transmission lever are all
Universal ball joint 12 is connected with, universal ball joint 12 is equipped with fixing bolt 13, fixing bolt 13 and the screw hole on expansion anchor rod 9
Matching, the interior displacement detection module for being equipped with detection 11 displacement of transmission lever of casing 10, displacement detection module and 5 electricity of data acquisition unit
Connection, transmission lever 11 are equipped with positioning pin 14, and 10 right end of casing is equipped with and 14 matched locating slot 15 of positioning pin.
In use, two expansion anchor rods are respectively embedded into Dam Crack both sides, two fixing bolts expand respectively with two
Anchor pole is fixedly connected.During the deformation of crack, the distance between two expansion anchor rods change, and position occurs between transmission lever and casing
It moves, the displacement detection module detection transmission lever displacement in casing, and sends it to data acquisition unit, data acquisition unit will
Displacement data is sent to controller.Positioning pin prevents the length in transmission lever plug-in-sleeve from going beyond the limit.
As shown in figure 4, displacement detection module includes sealing shell 27 and the vibratory string 21, the exciting that are arranged in sealing shell
And signal pickup device 22, vibratory string clamping device 23, inductor 24, tension spring 25, pull rod 26.Displacement deformation to be measured is passed by pull rod
It passs tension spring generation one to act on inductor with deforming linear power Δ F, the natural frequency of vibration of vibratory string is caused to become
Change, digital signal to vibratory string exciting and is received by exciting and signal pickup device by data acquisition unit.
Temperature sensor 16 is additionally provided on casing 10, temperature sensor 16 is electrically connected with data acquisition unit 5.Temperature sensing
Device detects environment temperature, and sends it to data acquisition unit, and temperature data is sent to controller by data acquisition unit.When
When crusing robot is moved to nearby, the temperature data detected is sent to crusing robot, survey monitor by crack detecting device
The temperature data received is forwarded to monitoring backstage by device people.
Power module includes accumulator 17, voltage transformation module 18, solar panel 19 and management of charging and discharging module 20,
The input terminal of voltage transformation module 18 is electrically connected with alternating current, the output with voltage transformation module 18 respectively of management of charging and discharging module 20
End, accumulator 17, solar panel 19 and controller 4 are electrically connected.Alternating current can be converted to DC voltage by voltage transformation module
It charging a battery, solar panel can convert the solar into electric energy and charge a battery, and accumulator is powered to controller,
Management of charging and discharging module management accumulator cell charging and discharging.
A kind of hydroelectric power plant's Dam Crack detection method based on crusing robot of the present embodiment, for a kind of above-mentioned base
In hydroelectric power plant's Dam Crack detecting system of crusing robot, include the following steps：
S1：Crusing robot scans surrounding terrain by three-dimensional laser navigation positional device, with pre-stored hydroelectric power plant
Topographic map is matched, and calculates the current coordinate position of crusing robot；
S2：Crusing robot is moved according to preset path, reaches each Crack Detection position of preset hydroelectric power plant successively
It puts；
S3：When crusing robot is moved to some Crack Detection position, at crusing robot and the Crack Detection position
Crack detecting device carry out wireless communication, which is sent to crusing robot by the flaw size detected,
Robot is by the flaw size data forwarding received to monitoring backstage；
S4：Monitoring backstage establishes the flaw size data received database, forms tendency chart, and judged, when
Flaw size sends out alarm when being more than setting value.
The method of crack detecting device detection flaw size includes the following steps：It is calculated using formula Ji=K (Fi-F0)
The deformation values of fracture detecting instrument calculate flaw size according to the deformation values of fracture detecting instrument, and Ji is the deformation of fracture detecting instrument
Value, K are the calibration coefficient of fracture detecting instrument, and Fi is the current output modulus value of fracture detecting instrument, and F0 is fracture detecting instrument zero
Export modulus value.
Claims (7)
1. a kind of hydroelectric power plant's Dam Crack detecting system based on crusing robot, which is characterized in that including monitoring backstage (1),
Crusing robot (2) and the crack detecting device (3) being arranged at Dam Crack, the crack detecting device (3) include control
Device (4), power module, data acquisition unit (5), wireless communication module (6) and the fracture detecting instrument (7) on crack,
The controller (4) is electrically connected respectively with power module, data acquisition unit (5) and wireless communication module (6), and the data are adopted
Collection unit (5) is also electrically connected with fracture detecting instrument (7), and the crusing robot (2) can be with monitoring backstage (1), Crack Detection
Device (3) carries out wireless communication.
2. a kind of hydroelectric power plant's Dam Crack detecting system based on crusing robot according to claim 1, feature exist
In the fracture detecting instrument (7) includes testing agency (8) and two expansion anchor rods (9), and the testing agency (7) is including casing
(10) and transmission lever (11), for transmission lever (11) left end from casing (10) right end plug-in-sleeve (10), described sleeve pipe (10) is left
End and transmission lever (11) right end are all connected with universal ball joint (12), and the universal ball joint (12) is equipped with fixing bolt
(13), the fixing bolt (13) matches with the screw hole on expansion anchor rod (9), and detection transmission lever position is equipped in described sleeve pipe (10)
The displacement detection module of shifting, institute's displacement detection module are electrically connected with data acquisition unit (5).
3. a kind of hydroelectric power plant's Dam Crack detecting system based on crusing robot according to claim 2, feature exist
In the transmission lever (11) is equipped with positioning pin (14), and described sleeve pipe (10) right end is equipped with and positioning pin (14) matched positioning
Slot (15).
4. a kind of hydroelectric power plant's Dam Crack detecting system based on crusing robot according to claim 2, feature exist
In being additionally provided with temperature sensor in described sleeve pipe (10), the temperature sensor is electrically connected with data acquisition unit (5).
5. a kind of hydroelectric power plant's Dam Crack detecting system based on crusing robot according to claims 1 or 2 or 3 or 4,
It is characterized in that, the power module includes accumulator (17), voltage transformation module (18), solar panel (19) and charge and discharge
Electric management module (20), the input terminal of the voltage transformation module (18) are electrically connected with alternating current, the management of charging and discharging module
(20) it is electrically connected respectively with the output terminal of voltage transformation module (18), accumulator (17), solar panel (19) and controller (4)
It connects.
6. a kind of hydroelectric power plant's Dam Crack detection method based on crusing robot, is based on for one kind described in claim 1
Hydroelectric power plant's Dam Crack detecting system of crusing robot, which is characterized in that include the following steps：
S1：Crusing robot scans surrounding terrain by three-dimensional laser navigation positional device, with pre-stored hydroelectric power plant's landform
Figure is matched, and calculates the current coordinate position of crusing robot；
S2：Crusing robot is moved according to preset path, reaches each Crack Detection position of preset hydroelectric power plant successively；
S3：When crusing robot is moved to some Crack Detection position, crusing robot and splitting at the Crack Detection position
Seam detection device carries out wireless communication, which is sent to crusing robot, machine by the flaw size detected
People is by the flaw size data forwarding received to monitoring backstage；
S4：Monitoring backstage establishes the flaw size data received database, forms tendency chart, and judged, works as crack
Size sends out alarm when being more than setting value.
7. a kind of hydroelectric power plant's Dam Crack detection method based on crusing robot according to claim 6, feature exist
In the method for crack detecting device detection flaw size includes the following steps：Crack is calculated using formula Ji=K (Fi-F0)
The deformation values of detector calculate flaw size, deformation values of the Ji for fracture detecting instrument, K according to the deformation values of fracture detecting instrument
For the calibration coefficient of fracture detecting instrument, Fi is the current output modulus value of fracture detecting instrument, and F0 is fracture detecting instrument offset output
Modulus value.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711290045.7A CN108195325A (en) | 2017-12-07 | 2017-12-07 | A kind of hydroelectric power plant's Dam Crack detecting system and method based on crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711290045.7A CN108195325A (en) | 2017-12-07 | 2017-12-07 | A kind of hydroelectric power plant's Dam Crack detecting system and method based on crusing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109457665A (en) * | 2018-11-14 | 2019-03-12 | 浙江景昌建设有限公司 | A kind of depth reservoir dam crack apparatus for examination and repair and method |
| CN115146926A (en) * | 2022-06-09 | 2022-10-04 | 福建健水工程有限公司 | Inspection system for reservoir |
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| CN202305386U (en) * | 2011-11-04 | 2012-07-04 | 中国水利水电科学研究院 | Embedded type crack meter |
| CN106595428A (en) * | 2016-12-29 | 2017-04-26 | 江西飞尚科技有限公司 | Vibratory string displacement sensor |
| CN107014433A (en) * | 2017-04-16 | 2017-08-04 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of intelligent O＆M cruising inspection system in hydroelectric power plant and its method |
| CN107085926A (en) * | 2017-06-29 | 2017-08-22 | 重庆三峡学院 | A kind of novel intelligent Geological Hazards Monitoring device |
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2017
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11148821A (en) * | 1997-11-14 | 1999-06-02 | Nippon Koei Co Ltd | Displacement detecting device |
| CN201335677Y (en) * | 2009-01-20 | 2009-10-28 | 长江水利委员会长江勘测规划设计研究院 | Embedded joint meter |
| CN202305386U (en) * | 2011-11-04 | 2012-07-04 | 中国水利水电科学研究院 | Embedded type crack meter |
| CN106595428A (en) * | 2016-12-29 | 2017-04-26 | 江西飞尚科技有限公司 | Vibratory string displacement sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109457665A (en) * | 2018-11-14 | 2019-03-12 | 浙江景昌建设有限公司 | A kind of depth reservoir dam crack apparatus for examination and repair and method |
| CN109457665B (en) * | 2018-11-14 | 2020-12-08 | 浙江景昌建设有限公司 | Deep water reservoir dam crack overhauling device and method |
| CN115146926A (en) * | 2022-06-09 | 2022-10-04 | 福建健水工程有限公司 | Inspection system for reservoir |
| CN115146926B (en) * | 2022-06-09 | 2024-01-26 | 福建健水工程有限公司 | Reservoir inspection system |
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Application publication date: 20180622 |