清水池观察级水下机器人巡检装置设计与实践  

Design and Implementation of the Observation‑level Underwater Robot Inspection Device in Clean Water Tank

作　　者：袁曲 周冬 胡彪 王海龙 祝灵 童力 孙倜 王凌云[2] YUAN Qu;ZHOU Dong;HU Biao;WANG Hai‑long;ZHU Ling;TONG LiSUN Ti;WANG Ling‑yun(Water Production Department,Wuhan Water Supply Co.Ltd.,Wuhan 430034,China;School of Electrical and Electronic Engineering,Huazhong University of Science andTechnology,Wuhan 430074,China)

机构地区：[1]武汉市自来水有限公司制水部,湖北武汉430034 [2]华中科技大学电气与电子工程学院,湖北武汉430074

出　　处：《中国给水排水》2024年第12期105-109,共5页China Water & Wastewater

基　　金：武汉市自来水公司项目(2021-GX-ZX-ZG-48)。

摘　　要：针对清水池巡检作业中存在需要停产、作业环境差、劳动强度大和成本高等问题,提出了清水池水下机器人巡检的技术方案。在对清水池水下巡检作业进行功能需求、性能需求分析的基础上,给出了装置的具体设计方案,并集成了一套清水池观察级水下机器人巡检装置。在4座清水池进行了水下视频检查、水样采集、泥砂沉积测量和杂物拾取等实验验证,结果表明该技术方案经济、可行,装置实现了清水池不停产水下巡检作业的目标。In view of the problems of production suspension,poor working environment,high labor intensity and high cost in the inspection operation of clean water tank,the technical scheme of underwater robot inspection is proposed.Based on the analysis of functional requirements and performance requirements of the underwater inspection operation of clean water tank,the specific design scheme of the device is provided,and a set of observation‑level underwater robot inspection device of clean water tank is integrated.The underwater video inspection,water sample collection,sediment measurement and debris picking were tested in four clean water tanks for verification.The results show that the technical scheme is economical and feasible,and the device achieves the goal of unsuspended underwater inspection operation of clean water tank.

关 键 词：清水池 观察级水下机器人 巡检装置 巡检作业 

分 类 号：TU991[建筑科学—市政工程]