大型水电站坝体检测水下机器人研究进展  

Research progress on remotely operated vehicle technology for underwater inspection of large hydropower dams

作　　者：徐鹏飞 陈梅雅 开艳 王子鹏 李新宇 万刚[2] 王延杰[3] XU Pengfei;CHEN Meiya;KAI Yan;WANG Zipeng;LI Xinyu;WAN Gang;WANG Yanjie(College of Harbour,Coastal and Offshore Engineering,Hohai University,Nanjing 210098,China;China Yangtze Power Co.,Ltd.,Yichang 443000,China;College of Mechanical and Electrical Engineering,Hohai University,Nanjing 213022,China)

机构地区：[1]河海大学港口海岸与近海工程学院,南京210098 [2]中国长江电力股份有限公司,宜昌443000 [3]河海大学机电工程学院,南京213022

出　　处：《清华大学学报（自然科学版）》2023年第7期1032-1040,共9页Journal of Tsinghua University(Science and Technology)

基　　金：国家重点研发计划项目(2022YFB4703401,2018YFF0215005);江苏省海洋科技创新专项(HY2018-15)。

摘　　要：中国是水电大国,水电站大坝除涉及自身经济效益外,还关系到人民生命财产安全,因此需要定期开展大型水电站坝体缺陷检测,确保水电站大坝安全运行。目前,使用有缆遥控水下机器人(remotely operated vehicle,ROV)进行水电站坝体缺陷检测能减少人工检测带来的诸多不利,同时提高检测精度和效率。该文对大坝环境条件和水电站坝体缺陷检测的主要内容进行了调研,梳理了大型水电站坝体检测ROV的研究现状,从坝体检测ROV总体技术、吸附技术、动力系统、检测技术、水下定位与控制系统等方面,分析了ROV在国内外水工检测领域的技术研究进展,并对坝体检测ROV关键技术的发展趋势进行了展望。[Significance]China uses a large amount of hydropower,and the safety of hydropower dams is related to the safety of people's lives,properties,and the national economy.Therefore,regular inspection of dam defects in large hydropower plants is vital to ensure their safe operation.Most of the common dam defects,such as cracks and leakage,originate from the surface of the structure and can affect the service life of the dams.In recent years,remotely operated vehicles(ROVs)have been used for the underwater inspection of dam defects in hydropower plants,as they can mitigate many disadvantages associated with manual inspections while improving detection accuracy and efficiency.[Progress]Thus,we explore the environmental conditions of dams and the main content of dam defect inspection in hydropower plants and review the research on ROV application for underwater inspection in large hydropower dams.We find that different sensors can be combined with ROVs to inspect large hydropower dams underwater according to detection and operation needs.The method can achieve intelligent mobile inspection and remote control of dam operation safety,automatically identify dam defect characteristics,and store shore-station interactive information.At present,ROVs are less used for inspecting dam defects in large hydropower plants but are widely used in fields such as deep-sea exploration,undersea operations,and rescue assistance.The use of ROVs for crack and leakage inspection in hydropower plants has tremendous advantages.The research on using ROVs for the intelligent inspection of other structures has certain implications for developing ROVs for the intelligent underwater inspection of large hydropower dams.We analyze the progress of ROV technology in domestic and international research on hydropower engineering in terms of the overall technology,underwater absorber,power system,inspection technology,underwater positioning,and control system.Moreover,we explore the modular design and overall scale optimization of ROVs for underwater inspe

关 键 词：水下机器人 水电站大坝 缺陷检测 总体技术 吸附技术 声光融合检测技术 动力系统 水下定位与控制 

分 类 号：TN247[电子电信—物理电子学]