水电站长距离引水隧洞检测机器人研发及应用

Development and Application of long-distance diversion tunnel detection robot in Hydropower Station

为实现水电站长距离引水隧洞安全、稳定、可靠的有水检测,避免排水人工检测存在的诸多问题,研发适用于水电站长距离引水隧洞检测的水下检测机器人。利用减小推进器推力耦合简化机器人运动模型;使用多决策层次及多控制模式提升机器人安全性;采用具备结构优化、鲁棒性高等优点的自整定PID控制方法结合多传感器反馈信号保持水下机器人状态稳定。研制出可在高水头引水隧洞超2 km距离范围内稳定航行检测并具备遇险自主返航的水下机器人,通过现场试验及在多个水电站的实际应用证明了水下机器人在引水隧洞远距离航行检测时的稳定性,充分验证了其实用性和可靠性。该水下机器人首次实现了抽水蓄能电站引水隧洞全范围,常规水电站引水隧洞重点部位安全、稳定有水检测。

In order to detecte of the long distance diversion tunnel of hydropower station safly,stable and reliable.and avoid many problems when artificial detection after drain away water,We developed an underwater detection robot suitable for the long distance diversion tunnel detection.By reducing thruster thrust coupling to simplify robot motion model and using multi-level and multi-mode control to improve robot safety.A self-tuning PID control structure with advantages of structural optimization and high robustness is adopted to keep the ROV stable.An underwater robot is developed that can be used for stable navigation detection in a high-head diversion tunnel within a distance of 2 km and capable of autonomous navigation in distress.Through field tests and practical applications in several hydropower stations,the stability of underwater robot in long-distance navigation detection of diversion tunnel is proved,and its practicality and reliability are fully verified.the underwater robot has succesful detected the full scope of the diversion tunnel of the pumped storage power station.and The key parts of diversion tunnel of conventional hydropower station,safly and stable.