水电站多元场景水下智能巡检关键技术与实践  

Key technology and practice of intelligent underwater inspection in multiple scenarios of hydropower station

作　　者：祁宁春 聂强 来记桃 陈永灿[2] 李永龙 QI Ningchun;NIE Qiang;LAI Jitao;CHEN Yongcan;LI Yonglong(Yalong River Hydropower Development Co.,Ltd.,Chengdu 610051,China;State Key Laboratory of Hydroscience and Engineering,Tsinghua University,Beijing 100084,China;Sichuan Energy Internet Research Institute,Tsinghua University,Chengdu 610213,China)

机构地区：[1]雅砻江流域水电开发有限公司,成都610051 [2]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 [3]清华四川能源互联网研究院,成都610213

出　　处：《清华大学学报（自然科学版）》2023年第7期1124-1134,共11页Journal of Tsinghua University(Science and Technology)

基　　金：国家重点研发计划项目(2019YFB1310505)。

摘　　要：针对运行期水电站多元场景下复杂结构与环境水下检查的重大难题和迫切需求,以雅砻江流域梯级电站为典型场景,对比分析水电站水下检测环境与海洋开放水域场景的差异,该文提出了复杂场景下水工建筑物水下智能巡检实施的技术路径,构建了水下检测机器人系统装备、超长距离水下供电与通信、水下精确导航与定位、大断面快速精细检测、巡检过程实时监控和缺陷信息智能分析等关键技术体系,进而形成水工建筑物多元应用场景的系统解决方案。该文重点在典型水工隧洞结构和高山峡谷区半开放水域开展多元化应用实践,实现了水工建筑物智能巡检与安全管控,提升了流域梯级电站电力生产经济效益,大幅降低了传统检测成本。该研究成果与实践经验可促进水电枢纽水下智能巡检技术发展,具有重要的行业推广意义。[Objective]Underwater building safety inspection is a vital tool for ensuring reservoir dam operation safety of hydropower stations.Due to the high expense of traditional drainage inspections and the high safety risk of divers performing underwater inspections for areas that cannot be drained,underwater detection technology provides a new solution to underwater building safety inspection.[Methods]Using the Yalong River basin step operation hydropower stations as a typical scenario,the target water environment and structural boundary conditions were analyzed;combined with open water underwater inspection experience and technical differences,underwater robot inspection equipment and essential technology systems under various scenarios of hydropower stations were constructed.Through robot system integration and testing,a small-sized,powerful,multi-sensor fusion cable remote control submersible was developed for tunnel-like structures with lengthy cavern lines.A high-strength,zero buoyancy photoelectric composite umbilical cable with a small diameter was designed,and remote power supply and fiber optic real-time communication were carried out through high-frequency medium voltage transmission technology.The real-time monitoring system for underwater robot movement based on the virtual exercise platform was built,and the robot was directed to return autonomously by an adaptive control algorithm in the case of communication and power supply failure.The combined inertial navigation-based positioning technology was investigated,and the position information,such as structural seams and feature markings detected by sonar and camera,was used to calibrate the inertial guidance positioning information.A high-frequency three-dimensional real-time sonar system with 360°mobility,continuous scanning,and real-time generation of a three-dimensional point cloud model was jointly developed,which improved precise positioning capability and detection efficiency for large cross-sections and long-distance closed structures.The research

关 键 词：水电站 水工建筑物 多元场景 水下机器人 智能巡检 

分 类 号：TV671[水利工程—水利水电工程]