智能巡检机器人在大坝廊道运维中的应用  

Application of intelligent inspection robot in dam corridor operation and maintenance

作　　者：王波 赵远 刘喜泉 曹仲 李剑波 WANG Bo;ZHAO Yuan;LIU Xiquan;CAO Zhong;LI Jianbo(Xiangjiaba Hydrpower Plant,Yibin 644600,China;Institute of Science and Technology,China Three Gorges Corporation,Beijing 10038,China;Yangtze Ecology and Environment Co.,Ltd.,Wuhan 430070,China;China Yangtze Power Co.,Ltd.,Yichang 443002,China)

机构地区：[1]向家坝水力发电厂,四川宜宾644600 [2]中国三峡集团有限公司科学技术研究院,北京100038 [3]长江生态环保集团有限公司,湖北武汉430070 [4]中国长江电力股份有限公司,湖北宜昌443002

出　　处：《人民长江》2022年第7期227-231,共5页Yangtze River

摘　　要：在水电站大坝廊道中进行传统人工巡检存在工作量大、环境恶劣,缺乏实时环境监测等缺点。以向家坝水电站为例,设计了一种基于轨道机器人的智能廊道诊断系统,其具有自主设备巡视、智能诊断分析、火灾事故预警、墙体裂缝图像识别等功能。详细阐述了该系统的硬件结构方案和软件设计功能,研制出了巡检机器人样机,并对智能诊断系统、样机通信系统、无线充电系统进行了测试分析。测试结果表明:巡检机器人巡检效率高且运行可靠,具有较强的应用价值和推广前景。The traditional manual inspection in the dam corridor of hydropower stations has disadvantages of heavy workload, harmful environment and lack of real-time environmental monitoring.Therefore, taking the Xiangjiaba Hydropower Station as an example, an intelligent inspection system based on track robot was designed, which had the functions of autonomous equipment inspection, intelligent diagnosis and analysis, fire accident warning, and wall crack image recognition.The hardware structure scheme and software design function of the system were described in detail, and a prototype of inspection robot was developed.The intelligent diagnosis system, prototype communication system and wireless charging system were tested and analyzed.The test results showed that the inspection robot had high efficiency and reliable operation, and had strong application value and promotion prospect.

关 键 词：智能巡检机器人 大坝廊道 智能诊断系统 向家坝水电站 

分 类 号：TV738[水利工程—水利水电工程]