CN106493707B - Inspection method for using hole wall adsorption wall climbing robot for water diversion power generation hole of hydropower station - Google Patents
Inspection method for using hole wall adsorption wall climbing robot for water diversion power generation hole of hydropower station Download PDFInfo
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- CN106493707B CN106493707B CN201610966884.5A CN201610966884A CN106493707B CN 106493707 B CN106493707 B CN 106493707B CN 201610966884 A CN201610966884 A CN 201610966884A CN 106493707 B CN106493707 B CN 106493707B
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- robot
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- crawler belt
- adsorption
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- 238000007689 inspection Methods 0.000 title claims abstract description 52
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 32
- 230000009194 climbing Effects 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title abstract description 10
- 238000010248 power generation Methods 0.000 title abstract 2
- 238000010521 absorption reaction Methods 0.000 claims description 56
- 239000003463 adsorbent Substances 0.000 claims description 17
- 206010006514 bruxism Diseases 0.000 claims description 6
- 230000007547 defect Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000009189 diving Effects 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000005286 illumination Methods 0.000 description 3
- 241000219098 Parthenocissus Species 0.000 description 2
- 230000001464 adherent effect Effects 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for inspecting a water diversion and power generation tunnel by using a tunnel wall adsorption wall climbing robot, wherein the robot realizes the adsorption of the robot on the tunnel wall by utilizing an adsorption crawler belt (1) to be matched with a negative pressure chamber (2) and a water suction pump (7), and simultaneously realizes the posture adjustment and movement of the robot by utilizing a driving wheel (9) to be matched with a posture control device. The underwater adsorption type wall-climbing television inspection robot and the inspection method do not need manual diving inspection, have the advantages of safety, wide inspection range, clear images, real and comprehensive information and high inspection efficiency, can cover all directions of a full tunnel section by inspection images, and can be widely used for underwater inspection work on the surfaces of diversion tunnels and dams of large and medium hydropower stations.
Description
Technical field
Hole wall adsorption wall climbing robot the present invention relates to the inspection method of power tunnels and for the inspection method belongs to
In engineering detecting field.
Background technology
Power tunnels are the Important buildings in power station, since power tunnels are located under water in the power station operating time phase,
Its tunnel lining bears larger pressure and high flow erosion, to ensure power tunnels safety, must often check it.
Existing inspection method mainly uses diver to dive under water and checks, artificial diving is checked and can only be checked in 50 meters of depth bounds
Part, while there is also larger security risks.It is also a kind of to be checked using underwater robot, but underwater robot uses
It revolves paddle to promote, robot can not carry out the adherent inspection of tunnel space is small, tunnel space of water flowing is difficult control posture.
Invention content
The technical problem to be solved by the present invention is to：There is provided it is a kind of by hole wall adsorption wall climbing robot for power station diversion send out
The inspection method of electric hole checks power station diversion tunnel using underwater hole wall adsorption wall climbing robot carrying Underwater Camera,
It is not required to manually dive under water, can check the under-water tuunel of the arbitrary depth of water and length, robot has to creep in the absorption of hole wall to be felt with inclination angle
Function is answered, can be checked by the inspection route of design, manually dive under water inspection and security risk is solved the disadvantage that, overcomes rotation paddle
Promote robot cannot adherent inspection the shortcomings that, can be automatic, quick and clear accurately for power station power tunnels, dam
Etc. the inspection work of underwater people cavern and building.
Technical scheme is as follows：
A kind of hole wall adsorption wall climbing robot, including adsorbent equipment, the adsorbent equipment include absorption crawler belt, adsorb crawler belt
Inside is connected to negative pressure chamber, and negative pressure chamber is connected with suction pump；
The absorption crawler belt includes several connected absorption chamber units, and absorption chamber unit outer ledge is provided with enclosed
Adsorb shirt rim, absorption is adsorbent chamber on the inside of shirt rim, has an even surface in adsorbent chamber, is provided with suction hole on even surface, suction hole with
Adsorbent chamber is connected to, and absorption chamber unit outer surface is provided at both ends with grinding tooth band；
The negative pressure chamber includes several independent vacuum cavities, is connected to by pipeline between vacuum cavity.
Both ends are engaged with a driving wheel respectively by grinding tooth band on the inside of the absorption crawler belt.
It is negative pressure chamber between two driving wheels, negative pressure chamber and the faying face length of absorption crawler belt are less than two driving wheels
Between non-engagement state absorption crawler belt length.Particularly, one piece of absorption is spaced between the negative pressure chamber both ends and driving wheel
Chamber unit.
Absorption shirt rim profile is rectangular.
The absorption crawler belt is the non-splicing plastics crawler belt of an entirety.The area of section for adsorbing chamber unit is less than or equal to negative pressure
The area of section of cavity, to which a vacuum cavity can correspond at least one absorption chamber unit, when improving absorption crawler belt operation
Ride comfort.
In addition to adsorbent equipment, underwater hole wall adsorption wall climbing robot further includes attitude-control device, driving device, and illumination is taken the photograph
As device.
Hole wall adsorption wall climbing robot is double creeper trucks, the adsorption capacity and wall generated by the absorption chamber unit on absorption crawler belt
Frictional force between face makes car body be attracted to Dong Bishang, and can continuous walking.There are multiple absorption chamber units on absorption crawler belt, it is each to inhale
Alcove unit is all independent suction tray, when device to it is front or rear mobile when, adsorb the adsorption chamber list that is contacted with wall surface on crawler belt
Member automatically forms negative pressure chamber with device backwards, and device is adsorbed on wall surface by multiple absorption chamber units jointly, ensures to check vehicle
It is not washed away and do not drop in crown.On the one hand, company with negative pressure chamber can be left automatically by leaving the absorption chamber unit in wall face
Logical state, to lose adsorption capacity.As device is walked, the absorption chamber unit adsorbed on crawler belt slides in negative pressure chamber, then can
The connected state of two Room of automatic conversion.Make negative pressure pump with Miniature water-pumping pump, each vacuum cavity is connected with pipe, in convex-concave wall
Face, a small amount of chamber unit that adsorbs lose adsorption capacity, are unlikely to influence other absorption chamber units.When walking, motor drive absorption is carried out
Driving wheel rotation with both ends, drive wheel adsorb crawler belt, and the walking of S types and change can be carried out by changing left and right track speed differential
Direction.3 d pose controller is mounted in robot body, the robot pose shown by attitude controller, it is to be understood that machine
People can also adjust the position and direction of robot in the position of hole wall and direction of travel by operation and control device.
Underwater television photographic device is mounted in the walking mechanism of robot, there is forward sight and rearview camera, equipped with relatively strong
Underwater lighting, intensity of light and camera focal length can be adjusted by operating console.
Operating console is connected by cable with car, and cable is multicore, has power supply and multi signal transfer function.Behaviour
Making console has image/video（Including parameters such as tunnel position, car postures）It displays and saves, brightness of illumination and focal length tune
Section, car advances, retreats, left and right turn operates etc..
The method of the underwater hole underwater cavern of wall adsorption wall climbing robot inspection includes the following steps：
1., according to tunnel form Design step checks section：4, circular design upper and lower, left and right section, gateway opening shape tunnel
Positive crown, left spandrel, right spandrel, leftwall, RightWall, the section of bottom surface 6 are designed in hole, the posture for the every section robot that converts
Inclination angle；
2., inspection apparatus equipment assembles step：Underwater Camera, light source are mounted on to the front and back end of robot, adjusted
Corresponding angle；
3. step, checks initial position adjustment：Robot is connected with ground controller, inspection machine people's working condition
Normally, by its sinking to the tunnel entry position to be checked, adjustment robot to the survey line endpoint location to be checked；
4., the inspection of first survey line operates step：The posture of calibration machine people is consistent with survey line, passes through ground controller
Manipulation of the machine people advances, retreats, turns, while the video camera in robot is recorded a video, cable depth logger recorder
The survey line pile No. of people, until robot reaches end of line position；
5. step, changes survey line：When checking adjacent survey line, only by adjusting the position and direction of robot, pass through posture control
Dou robots processed are adjusted to need the start position of survey line；
Step 6., the inspection of other surveys line：Repeat 4., 5. step, other surveys line are completed, until completing full hole scene inspection
It looks into；
Step 7., indoor data to arrange：The underwater video data of site inspection is observed on computers, identifies tunnel
The defect of wall surface, abnormal property, size, position carry out editing to defect image, are organized into inspection video file, write inspection
Look into achievement Report.
The underwater adsorbed wall-climbing TV inspection robot and inspection method that the present invention designs, manually diving does not check,
With safety, the full hole section all directions of check image covering, examination scope is big, image clearly, information truth are comprehensive, checks efficiency
Height can be widely used for the diversion tunnel of large medium-size station, the submarine inspection work on dam surface.
Description of the drawings
Fig. 1 is adsorbent equipment structural schematic diagram of the present invention；
Fig. 2 is adsorption chamber unit inside of the present invention face schematic diagram；
Fig. 3 is present invention absorption chamber unit lateral surface schematic diagram；
Fig. 4 is the sectional view of Fig. 3；
Fig. 5 is the dimensional structure diagram for adsorbing chamber unit；
Fig. 6 is the combination schematic diagram of negative pressure chamber and absorption crawler belt；
Fig. 7 is the explosive view of Fig. 6；
Fig. 8 is the structure principle chart of robot of the present invention；
Fig. 9 is camera lighting device structural schematic diagram；
Figure 10 is operation and control device panel schematic diagram.
Specific implementation mode
As shown in Figure 1, a kind of adsorption wall climbing robot for underwater cavern and cliff inspection, including be used for robot
The adsorbent equipment being adsorbed on hole wall 12, adsorbent equipment include absorption crawler belt 1, and absorption crawler belt 1 is the non-splicing plastics of an entirety
Crawler belt.1 inside of absorption crawler belt is connected to negative pressure chamber 2, and negative pressure chamber 2 is connected with suction pump 7.
As shown in Fig. 2,3,4 and 5, absorption crawler belt 1 includes several connected absorption chamber units 10,10 outside of absorption chamber unit
Edge is provided with enclosed absorption shirt rim 6, and absorption 6 profile of shirt rim is rectangular, and 6 inside of absorption shirt rim is adsorbent chamber 3, adsorbent chamber
There are an even surface 11 in 3 insides, and suction hole 4 is provided on even surface 11, and suction hole 4 is connected to adsorbent chamber 3, adsorb 10 appearance of chamber unit
Face is provided at both ends with grinding tooth band 5；As shown in fig. 7, negative pressure chamber 2 includes several independent vacuum cavities 8, lead between vacuum cavity 8
Piping is connected to.As shown in figs. 1 and 6, absorption 1 inside both ends of crawler belt are engaged with a driving wheel 9 respectively by grinding tooth band 5.Two
It is negative pressure chamber 2 between a driving wheel 9, it is non-between negative pressure chamber 2 and less than two driving wheels 9 of faying face length for adsorbing crawler belt 1 to nibble
The length of the absorption crawler belt 1 of conjunction state, such as Fig. 1 are spaced one piece of absorption chamber unit 10 between 2 both ends of negative pressure chamber and driving wheel 9.
As shown in figure 8, adsorption wall climbing robot further includes attitude-control device 16, driving device（Motor 13 and two
Drive shaft 14）, lighting camera device 15.
Hole wall adsorption wall climbing robot is double creeper trucks, the adsorption capacity generated by the absorption chamber unit 10 on absorption crawler belt 1
Frictional force between wall surface makes car body be attracted on hole wall 12, and can continuous walking.There are multiple adsorption chamber lists on absorption crawler belt 1
Member 10, each chamber unit 10 that adsorbs all are independent suction tray, when device to it is front or rear mobile when, adsorb and connect with wall surface on crawler belt 1
Tactile absorption chamber unit 10 automatically forms negative pressure chamber 2 with device backwards, and device is adsorbed on by multiple absorption chamber units 10 jointly
On wall surface, ensure to check that vehicle is not washed away and do not drop in crown.On the one hand, the absorption chamber unit 10 for leaving wall face can be certainly
The dynamic connected state left with the vacuum cavity of negative pressure chamber 28, to lose adsorption capacity.As device is walked, adsorb 1 on crawler belt
Absorption chamber unit 10 slided in negative pressure chamber 2, then can two Room of automatic conversion connected state.Make negative pressure with Miniature water-pumping pump
Pump connects each vacuum cavity 8 with pipe, and in convex-concave wall surface, a small amount of chamber unit 10 that adsorbs loses adsorption capacity, is unlikely to influence it
It adsorbs chamber unit 10.When walking, the driving wheel 9 at 1 both ends of the driving absorption crawler belt of motor 13 rotates, the driving absorption of driving wheel 9
Crawler belt 1, the walking of S types can be carried out and change direction by changing left and right track speed differential（It can refer to the driving of common full-time four-wheel drive vehicle
Structure）.3 d pose control device 16 is mounted in robot body, the robot pose shown by attitude controller, it is known that
Pipeline robot can also adjust the position and direction of robot in the position of hole wall 12 and direction of travel by operation and control device.
Such as Fig. 9, underwater lighting photographic device 15 is mounted in the walking mechanism of robot, there is forward sight 15-1 and backsight 15-3
Camera is between the two camera and mains lighting supply and control device 15-2, which is furnished with stronger underwater lighting, light
Intensity and camera focal length can be adjusted by operating console.Since above-mentioned apparatus is the prior art, do not make herein in detail
It is thin to illustrate.
Operating console is connected by cable with car, and cable is multicore, has power supply and multi signal transfer function.Such as
Figure 10, operating console have image/video（Including parameters such as tunnel position, car postures）Display and save, brightness of illumination and
Focus adjustment, car advances, retreats, left and right turn operates etc..
When being checked, section is checked according to tunnel form Design first：4, circular design upper and lower, left and right section, city
The positive crown of door opening shape tunnel design, left spandrel, right spandrel, leftwall, RightWall, the section of bottom surface 6, convert every section machine
The posture inclination angle of people；
Then, inspection apparatus equipment assembles：Underwater Camera, light source are mounted on to the front and back end of robot, adjust phase
The angle answered；
Immediately, initial position adjustment is checked：Robot is connected with ground controller, inspection machine people working condition is just
Often, by its sinking to the tunnel entry position to be checked, adjustment robot to the survey line endpoint location to be checked；
Then, the inspection operation of first survey line is carried out：The posture of calibration machine people is consistent with survey line, is controlled by ground
Device Manipulation of the machine people advances, retreats, turns, while the video camera in robot is recorded a video, cable depth logger logging machine
The survey line pile No. of device people, until robot reaches end of line position；
After again, survey line is replaced：When checking adjacent survey line, only by adjusting the position and direction of robot, pass through posture control
Robot processed is adjusted to need the start position of survey line；
After completing a survey line inspection, above-mentioned two step is repeated, other surveys line are completed, until completing full hole site inspection；
Finally, the underwater video data of site inspection is observed on computers, identifies defect, the exception of tunnel wall surface
Property, size, position, to defect image carry out editing, be organized into inspection video file, write inspection achievement Report.
Claims (5)
1. a kind of inspection method that hole wall adsorption wall climbing robot is used for power station power tunnels, hole wall adsorption wall climbing machine
People includes adsorbent equipment, and the adsorbent equipment includes absorption crawler belt（1）, adsorb crawler belt（1）Inside and negative pressure chamber（2）Connection is born
Pressure chamber（2）With suction pump（7）It is connected；The absorption crawler belt（1）Including several connected absorption chamber units（10）, adsorb chamber unit
（10）Outer ledge is provided with enclosed absorption shirt rim（6）, adsorb shirt rim（6）Inside is adsorbent chamber（3）, adsorbent chamber（3）It is interior
There is an even surface in side（11）, even surface（11）On be provided with suction hole（4）, suction hole（4）With adsorbent chamber（3）Connection, adsorption chamber list
Member（10）Outer surface is provided at both ends with grinding tooth band（5）；The negative pressure chamber（2）Including several independent vacuum cavities（8）, negative pressure cavity
Body（8）Between be connected to by pipeline, which is characterized in that include the following steps：
1., according to tunnel form Design step checks section：4, circular design upper and lower, left and right section, Arch cross-section tunnel are set
Positive crown, left spandrel, right spandrel, leftwall, RightWall, the section of bottom surface 6 are counted, the posture of every section robot of conversion is inclined
Angle；
2., inspection apparatus equipment assembles step：Underwater Camera, light source are mounted on to the front and back end of robot, adjust angle；
3. step, checks initial position and adjustment：Robot is connected with ground controller, inspection machine people's working condition,
By its sinking to the tunnel entry position to be checked, adjustment robot to the survey line endpoint location to be checked；
4., the inspection of first survey line operates step：The posture of calibration machine people is consistent with survey line, is manipulated by ground controller
Robot advances, retreats, turns, while the video camera in robot is recorded a video, cable depth logger recorder people's
Survey line pile No., until robot reaches end of line position；
5. step, changes survey line：When checking adjacent survey line, only by adjusting the position and direction of robot, pass through gesture stability machine
Device people is adjusted to need the start position of survey line；
Step 6., the inspection of other surveys line：Repeat 4., 5. step, other surveys line are completed, until completing full hole site inspection；
Step 7., indoor data to arrange：The underwater video data of site inspection is observed on computers, identifies tunnel wall surface
Defect, abnormal property, size, position, editing is carried out to defect image, is organized into inspection video file, write inspection at
Fruit is reported.
2. the inspection method according to claim 1 that hole wall adsorption wall climbing robot is used for power station power tunnels,
It is characterized in that：The absorption crawler belt（1）Inside both ends pass through grinding tooth band（5）Respectively with a driving wheel（9）Engagement.
3. the inspection method according to claim 2 that hole wall adsorption wall climbing robot is used for power station power tunnels,
It is characterized in that：Two driving wheels（9）Between be negative pressure chamber（2）, negative pressure chamber（2）With absorption crawler belt（1）Faying face it is long
Degree is less than two driving wheels（9）Between non-engagement state absorption crawler belt（1）Length.
4. the inspection method according to claim 3 that hole wall adsorption wall climbing robot is used for power station power tunnels,
It is characterized in that：The negative pressure chamber（2）Both ends and driving wheel（9）Between interval one piece absorption chamber unit（10）.
5. the inspection method according to claim 1 that hole wall adsorption wall climbing robot is used for power station power tunnels,
It is characterized in that：The absorption shirt rim（6）Profile is rectangular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610966884.5A CN106493707B (en) | 2016-10-28 | 2016-10-28 | Inspection method for using hole wall adsorption wall climbing robot for water diversion power generation hole of hydropower station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610966884.5A CN106493707B (en) | 2016-10-28 | 2016-10-28 | Inspection method for using hole wall adsorption wall climbing robot for water diversion power generation hole of hydropower station |
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| CN106493707A CN106493707A (en) | 2017-03-15 |
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| CN108622219A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of propeller side compression type adsorption wall climbing robot |
| CN110667719B (en) * | 2019-10-16 | 2021-11-30 | 山东交通学院 | Marine omnidirectional movement wall climbing robot |
| CN113203750A (en) * | 2021-05-10 | 2021-08-03 | 广州珠江天然气发电有限公司 | Crawling inspection device, system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS63195072A (en) * | 1987-02-06 | 1988-08-12 | Ishikawajima Kensa Keisoku Kk | Adsorption element for travel truck |
| CN1134377A (en) * | 1995-04-26 | 1996-10-30 | 林崇厚 | Vacuum braker |
| CN202763840U (en) * | 2012-08-18 | 2013-03-06 | 郑州大学 | Autonomous control underwater robot based on image processing |
| CN205497459U (en) * | 2016-04-21 | 2016-08-24 | 哈尔滨蓝光智能电站技术有限公司 | Can be from water -cooling wall range finding wall climbing robot of cooling |
| CN105945972B (en) * | 2016-05-05 | 2018-07-20 | 北京快乐智慧科技有限责任公司 | Adjust the method and intelligent interaction robot of intelligent interaction robot pose |
| CN106002926B (en) * | 2016-08-05 | 2018-03-13 | 王岩卿 | A kind of underwater operation robot |
| CN206170059U (en) * | 2016-10-28 | 2017-05-17 | 中国电建集团贵阳勘测设计研究院有限公司 | Adsorption wall-climbing robot for underwater cavern and steep wall inspection |
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