Underwater structure surface defect detection robot system and working method thereof

Abstract

The invention discloses an underwater structure surface defect detection robot system. The underwater structure surface defect detection robot system comprises an underwater robot detection unit, a cable device unit and a positioning array unit; the underwater robot detection unit comprises a frame; a binocular camera is fixed at the front part of the frame; a six-degree-of-freedom propeller is fixed at the rear part of the frame; a positioning module and a control module are fixed at the upper part of the frame; a battery compartment is fixed at the middle part of the frame; the cable deviceunit is connected with the control module through a cable; a wire net card module is arranged in the cable device unit; multiple hydrophones are arranged at the lower part of the positioning array unit; a bin body is arranged in the positioning array unit; and a signal processing module and an optical fiber module are arranged on the bin body. The invention further discloses a corresponding working method. According to the underwater structure surface defect detection robot system and the working method thereof, underwater structure surface defect images can be remotely collected and analyzedin real time; and meanwhile, defects can also be measured and analyzed to improve the intelligence level of underwater structure surface defect detection.

Description

technical field [0001] The invention specifically relates to a robot system for detecting surface defects of underwater structures and a working method thereof, belonging to the technical field of visual inspection. Background technique [0002] With the continuous construction of water conservancy projects, hydropower projects, and bridge projects in my country, the coverage of underwater structures (dams, ocean platforms, port terminals, and bridge projects, etc.) has become more and more extensive. Due to the long-term underwater complex environment, underwater structures are vulnerable to water erosion, penetration, erosion, and self-aging, which will cause a series of structural damage, and then form various defects on the surface of underwater structures. . If it is not repaired quickly and effectively, the surface defects of underwater structures will continue to expand, which will seriously threaten the safe operation of the overall project and become the main hidde...

AI Technical Summary

Problems solved by technology

However, the underwater optical environment is complex, and the use of auxiliary lighting will undoubtedly reduce the imaging quality of underwater images. Moreover, the hardware performance constraints of the underwater image acquisition system also make the imaging quality of underwater images poor.

The main manifestations are low image contrast, lack of defect feature information, fuzzy and incomplete, difficult to form fine and precise boundary features, and contain a lot of random noise, which makes the accurate characterization and description of cracks difficult, making the existing crack detection methods The detection rate is low, the false alarm rate is high, and good results cannot be obtained

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