泥沙淤积环境下清淤置换模块设计及检测效率分析  

Design and detection efficiency analysis of desilting replacement module in sediment accumulation environment

作　　者：李佳龙 陈永灿 李永龙[1,4] 王皓冉 谢辉 LI Jialong;Chen Yongcan;LI Yonglong;WANG Haoran;XIE Hui(Sichuan Energy Internet Research Institute,Tsinghua University,Chengdu 610071,China;School of Civil Engineering and Geomatics,Southwest Petroleum University,Chengdu 610500,China;State Key Laboratory of Hydroscience and Engineering,Tsinghua University,Beijing 100084,China;Department of Electronic Engineering,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华四川能源互联网研究院,成都610071 [2]西南石油大学土木工程与测绘学院,成都610500 [3]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 [4]清华大学电子工程系,北京100084

出　　处：《清华大学学报（自然科学版）》2023年第7期1104-1112,共9页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(52009064,U21A20157);四川省科技计划资助项目(2021JDRC0088,2022YFQ0080,2022YFSY0011)。

摘　　要：针对泄水消能建筑物水底泥沙淤积、水体能见度差导致的水下检测难题,该文研究了一种适用于积淤水底、浑浊水质条件的清淤置换模块,并对其机构设计和检测效率进行分析。基于水底泥沙起动条件与淹没式水射流特性,运用Euler多相流模型对清淤置换模块进行水动力分析,并通过水沙两相流数值仿真和实物试验相结合的方式对比分析。该文验证了清淤置换模块中升降机构的必要性,得出置换检测壳体底部离沙高度为60 mm时,机器人清淤检测效率最高,可在1.56 s内将检测区域内厚度为100 mm的淤积泥沙清除90%,完成清淤-检测作业的总用时为9.56 s。清淤置换模块的推广应用可显著提升现有水下机器人的环境适应性和检测能力,推动水下检测技术的发展。[Objective]The drainage and energy dissipation building is an important aspect of the water conservation and hydropower project,and its structural safety is linked to the safety of the whole project.For a long time,the drainage and energy dissipation buildings have been subjected to the erosion of high pressure and high speed water,which will inevitably cause damage to the concrete structure.The apparent damage to underwater concrete structures is concealed due to the structure's uniqueness and diversity.The traditional method of diver inspection or manual inspection following cofferdam draining takes a long time and is expensive and dangerous.Using underwater robots for unmanned inspection reduces personal risk.However,the underwater robots'detection accuracy is limited due to the sediment accumulation on the bottom and poor visibility in the water,which makes it impossible to conduct timely investigations of defects and hidden dangers.This study has developed a desilting replacement module that is suitable for the conditions of sediment bottom and turbidity water and studied the mechanism design of the module,the efficiency of silt removal,and defect detection.The desilting replacement module is built in this study by examining the starting condition of sediment deposition and the features of the submerged water jet.It consists mostly of the desilting mechanism,the replacement detection mechanism,and the lifting mechanism.The Euler multiphase flow model was used to create the continuity equation and momentum equation of water and sand,and the hydrodynamic influence of the desilting replacement module was investigated.A simulation model based on Euler water-sand two-phase flow was developed using computational fluid dynamics software to mimic the desilting detection process of the desilting replacement module in the underwater sediment environment.The thickness of the sediment is considered to be 100 mm in the simulation,and the height of the sediment deposited at the beginning distance of the replacement detect

关 键 词：泄水消能建筑 水下机器人 清淤置换模块 泥沙淤积 清淤检测效率 

分 类 号：TV653[水利工程—水利水电工程]