大直径长引水隧洞水下检测机器人系统关键技术  

Key technology of underwater inspection robot system for large diameter and long headrace tunnel

作　　者：陈永灿[1,2] 陈嘉杰 王皓冉 巩宇[5] 冯跃 刘昭伟 祁宁春 刘梅[8] 李永龙 谢辉 CHEN Yongcan;CHEN Jiajie;WANG Haoran;GONG Yu;FENG Yue;LIU Zhaowei;QI Ningchun;LIU Mei;LI Yonglong;XIE Hui(State Key Laboratory of Hydroscience and Engineering,Tsinghua University,Beijing 100084,China;School of Civil Engineering and Geomatics,Southwest Petroleum University,Chengdu 610500,China;China Nuclear Power Technology Research Institute Co.,Ltd.,Shenzhen 518026,China;Sichuan Energy Internet Research Institute,Tsinghua University,Chengdu 610000,China;China Southern Power Grid Peak Load Regulation and Frequency Modulation Power Generation Co.,Ltd.,Guangzhou 510630,China;School of Mechatronic Engineering,Beijing Institute of Technology,Beijing 100081,China;Yalong River Hydropower Development Co.,Ltd.,Chengdu 610051,China;China South-to-North Water Diversion Eastern Route Co.,Ltd.,Beijing 100070,China)

机构地区：[1]清华大学,水沙科学与水利水电工程国家重点实验室,北京100084 [2]西南石油大学,土木工程与测绘学院,成都610500 [3]中广核研究院有限公司,深圳518026 [4]清华四川能源互联网研究院,成都610000 [5]南方电网调峰调频发电有限公司,广州510630 [6]北京理工大学机电学院,北京100081 [7]雅砻江流域水电开发有限公司,成都610051 [8]中国南水北调集团东线有限公司,北京100070

出　　处：《清华大学学报（自然科学版）》2023年第7期1015-1031,共17页Journal of Tsinghua University(Science and Technology)

基　　金：国家重点研发计划项目(2019YFB1310500)。

摘　　要：作为重大工程关键构筑物的引水隧洞具有洞线长、洞径大、高水压、围岩地质复杂等特点,长年运行会导致引水隧洞出现裂缝、塌方、露筋等典型缺陷,如不加以防范,将严重影响工程安全运行,传统人工检测存在周期长、安全风险高、漏检率高、获取信息量不足等问题。针对特大型水利水电工程中的大直径超长距离引水隧洞定期检测的重大需求,研发多功能“子母式”水下机器人系统,突破在水体浑浊、高水压、附着淤积、局部可达困难等复杂水下环境机器人的远程供电、协同作业、智能巡检、缺陷识别、安全评估等关键技术,完成引水隧洞结构安全分级与风险评价,实现水下机器人“巡、检、控、诊、用”全过程集成,并在南水北调东线工程、锦屏二级水电站等国家重大工程中示范验证。研究成果可显著提高检测效率,大幅降低巡检成本,提高经济效益,同时具有广阔的产业与应用前景,如促进人工智能学科和水利学科交叉融合、引导特殊环境机器人产业发展、提升我国相关领域技术及装备水平等。[Significance]Headrace tunnels are key structures of major projects characterized by long tunnel lines,large tunnel diameters,high water pressure,and complex surrounding rock geology.Typical defects,such as cracks,landslides,and exposed reinforcement,will occur during long years of operation.If they are not prevented,the safe operation of the project will be seriously affected.Long cycles,high safety risk,high leak rate,and insufficient information are all issues with traditional manual inspection.Given the urgent need for regular inspection of large-diameter and super-long headrace tunnels in super-large water conservancy and hydropower projects,this study solved key scientific issues,such as the adaptability of robot underwater environment tasks,the active detection of super-long headrace tunnel apparent defects,and the safety risk assessment of tunnel structures based on robot inspection data.The key technology breakthroughs include the sub-parent cooperation of complex underwater environments,the fine operation of load manipulator,ultra-long distance underwater high-voltage power supply,umbilical cable safe release and recovery,ultra-long distance human-machine cooperative control,special environment adaptation of underwater robots,active defect detection and identification based on multi-sensor fusion.Structural safety classification,risk analysis and evaluation,and virtual drills were also carried out.The developed underwater robot inspection system was successfully applied to large-diameter and long headrace tunnels for comprehensive verification.[Progress]The application performance of underwater robots in special environments has improved due to breakthroughs in key technologies such as remote power supply,cooperative operation,intelligent patrol inspection,defect identification,and safety assessment of robots in complex underwater environments including water turbidity,high water pressure,adhesion and siltation,and local accessibility difficulties.The safety classification and risk assessment of the hea

关 键 词：引水隧洞 子母式 水下机器人 示范应用 南水北调 锦屏二级 

分 类 号：TV653[水利工程—水利水电工程]