基于无人机和水下机器人的高坝混凝土裂缝检测技术研究与应用

Research and Application of High Dam Concrete Crack Detection Technology based on Unmanned Aerial Vehicle and Underwater Robot

水电工程大坝以水面为界线被划分成水上部分和水下部分,传统检测方法存在检查成果碎片化、检查成果无法定量描述、检查成果定位不准确等诸多问题,特别是对于高坝,以上问题显得更加突出。以乌江某水电站拱坝裂缝检测项目为依托,首创性地引入无人机和水下机器人“水上水下一体化”检测技术,突破传统检测方法在空间和距离上的限制,攻克无人机和水下机器人在高拱坝特殊水工结构环境条件下的作业难题,建立拱坝水上部分高分辨率实景三维数据库,引入混凝土裂缝缺陷人机交互自动识别技术,实现了高拱坝水上混凝土全覆盖精细检查和水下混凝土精准定位检查。

The dam of hydropower project is divided into the above-water part and the underwater part with the water surface as the boundary.The traditional inspection methods have many problems,such as fragmentation of inspection results,inability to quantitatively describe inspection results,inaccurate positioning of inspection results,etc,especially for high dams.Based on the crack detection project of an arch dam of a hydropower station in Wujiang River,the detection technology of uintegration of water and underwaterM of unmanned aerial vehicle and underwater robot is introduced for the first time,which breaks through the limitation of space and distance of traditional detection methods,overcomes the operation problems of unmanned aerial vehicle and underwater robot under the special hydraulic structure environment conditions of high arch dam,establishes a high-resolution reallife 3D database of arch dam above water,and introduces the automatic identification technology of concrete crack defects through human-computer interaction,thus realizing the fine inspection of full coverage and accurate positioning of underwater concrete of arch dam.