Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Device and method for identifying and repairing underwater cracks of concrete structure
The invention discloses a device and method for identifying and repairing underwater cracks of a concrete structure. The device comprises an underwater robot, a propelling device and a signal processing system are carried on the underwater robot, and a repairing device is installed below the underwater robot; the signal processing system comprises an image collection module, a control module and an ultrasonic positioning module; the repairing device comprises a transmission device and a grouting device. According to the method, an improved YOLOv8 image recognition algorithm is adopted to recognize the crack trend, and then the crack three-dimensional features are constructed in combination with depth data provided by a depth camera. Secondly, an optimal path is planned through an autonomous navigation system, so that the device accurately reaches the position of the crack; and then the position, the posture, the advancing speed and the advancing direction of the underwater robot are adjusted through PID closed-loop control logic, so that the spray head and the magnetic suction head are attached to the crack for filling. The method improves the efficiency and reliability of detecting and maintaining the underwater building, and is of great significance for prolonging the service life of the underwater building.
本发明公开了一种混凝土结构水下裂纹识别、修补的装置及方法，包括水下机器人，水下机器人上搭载有推进装置和信号处理系统，下方安装有修补装置；所述信号处理系统包括图像收集模块、控制模块和超声波定位模块；所述修补装置包括传动装置和注浆装置。本方法首先采用改进的YOLOv8图像识别算法识别裂纹走向，再结合深度相机提供的深度数据构建裂纹三维特征。其次通过自主导航系统规划最优路径，使该装置准确到达裂纹所在的位置。然后使用PID闭环控制逻辑调整水下机器人的位置、姿态以及前进的速度、方向，使喷头与磁吸头贴合裂纹进行填充。此方法提升了检测与维护水下建筑物的效率和可靠性，对延长其使用寿命具有重要意义。
Device and method for identifying and repairing underwater cracks of concrete structure
The invention discloses a device and method for identifying and repairing underwater cracks of a concrete structure. The device comprises an underwater robot, a propelling device and a signal processing system are carried on the underwater robot, and a repairing device is installed below the underwater robot; the signal processing system comprises an image collection module, a control module and an ultrasonic positioning module; the repairing device comprises a transmission device and a grouting device. According to the method, an improved YOLOv8 image recognition algorithm is adopted to recognize the crack trend, and then the crack three-dimensional features are constructed in combination with depth data provided by a depth camera. Secondly, an optimal path is planned through an autonomous navigation system, so that the device accurately reaches the position of the crack; and then the position, the posture, the advancing speed and the advancing direction of the underwater robot are adjusted through PID closed-loop control logic, so that the spray head and the magnetic suction head are attached to the crack for filling. The method improves the efficiency and reliability of detecting and maintaining the underwater building, and is of great significance for prolonging the service life of the underwater building.
本发明公开了一种混凝土结构水下裂纹识别、修补的装置及方法，包括水下机器人，水下机器人上搭载有推进装置和信号处理系统，下方安装有修补装置；所述信号处理系统包括图像收集模块、控制模块和超声波定位模块；所述修补装置包括传动装置和注浆装置。本方法首先采用改进的YOLOv8图像识别算法识别裂纹走向，再结合深度相机提供的深度数据构建裂纹三维特征。其次通过自主导航系统规划最优路径，使该装置准确到达裂纹所在的位置。然后使用PID闭环控制逻辑调整水下机器人的位置、姿态以及前进的速度、方向，使喷头与磁吸头贴合裂纹进行填充。此方法提升了检测与维护水下建筑物的效率和可靠性，对延长其使用寿命具有重要意义。
Device and method for identifying and repairing underwater cracks of concrete structure
一种混凝土结构水下裂纹识别、修补的装置及方法
ZHANG SIYUAN (Autor:in) / LIU AOLIN (Autor:in) / HU MINGZHOU (Autor:in) / YANG SHIJUN (Autor:in) / FANG JUNNAN (Autor:in) / LI JUNWEI (Autor:in) / YI SIYU (Autor:in)
11.10.2024
Patent
Elektronische Ressource
Chinesisch
IPC:
E02B
HYDRAULIC ENGINEERING
,
Wasserbau
/
B63C
LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS
,
Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen
/
B63G
OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS
,
Angriffs- oder Verteidigungsanordnungen auf Schiffen
/
E02D
FOUNDATIONS
,
Gründungen
/
G01N
Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften
,
INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
/
G06N
COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
,
Rechnersysteme, basierend auf spezifischen Rechenmodellen
/
G06V
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