| The pumped-storage hydroelectricity plays an important role in the power grid,and the pumped-storage hydroelectricity has a capacity of millions to tens of millions of cubic meters and a depth of tens of meters.Dozens of pumped-storage hydroelectricity open and close every day,the reservoir water depth changes 20 to 30 meters,the dam face pressure changes greatly,the quality of the dam face severe test.Therefore,the routine maintenance and inspection of the pumped-storage hydroelectricity are highly frequent and demanding.However,the existing methods of monitoring dams in pumped storage power stations are relatively backward,usually using inspectors to carry safety ropes down to the bottom of the slope.The slope of the dam is steep,slippery,and tens of meters in height.It is not only dangerous,but also highly susceptible to environmental effects such as weather.It usually takes three days for a 100-meter-long dam inspection to take place.Or use drone patrols to photograph the slope of the dam.The staff judges the safety of the dam by comparing the photos,which is limited to the pixel problem of drone photography.The inspection effect of these two methods mostly depends on the staffs work seriousness,skill level,etc.,and the uncertainty is too large.Therefore,in order to ensure the reliable and effective inspection of the dam slope,ensure the safety of inspectors and the stability of their work,it is urgent to develop the dam intelligent inspection platform.Shandong Taishan Pumped Storage Power Station is currently the only energy storage power station in Shandong Province and plays an important role in Shandong Power Grid.Since Taishan Pumped Storage Power Station was put into operation for more than ten years,it has been observing the dam by means of artificial inspection.In the course of testing and verification of Taishan dam in 2015,The experts of the dam monitoring center of the National Energy Administration explicitly require that:the opening and closing seams of the dam wall,the dam panel discharge area,the dam panel joint seam and stop water belt,and the panel horizontal seam repair area should be included in the regular inspection and observation scope.The frequency should not be less than once a week.And put forward to carry out the study of the automatic inspection and walking mechanism as soon as possible to provide technical support for the next intelligent inspection and observation work of the dam panel.The project is of great significance for improving the safe and stable operation of the dam of Taishan Pumped Storage Power Station and is leading the upgrading of dam detection technology for other similar pumping storage power stations of Xinyuan Company.For this reason,Shandong Taishan pumped storage power station puts forward the research and development of the automatic walking device for dam inspection.The project was supported by State Grid Xinyuan Co.,Ltd.with the operation and maintenance department of Taishan pumped storage power station as the main body and the way of cooperation with colleges and universities for research and development.For the first time in China,it was proposed to use the dam wave wall as the guide rail for patrol inspection and manned automatic walking device,which took about two years and invested about one million yuan.They started from the mechanical layer,electrical layer,image control layer,and control and calculation layer of the inspection device,and used the professional expertise of the power station machinery,electrical primary,and electrical secondary,according to professional divisions.Solve problems.Mechanical analysis,finite element calculation and other methods are used to demonstrate the feasibility of using the dam body as a guide rail without destroying the dam body,and a set of solid,reliable,light and multifunctional mechanical structure is developed.Through the finite element calculation and analysis,the stress safety factors of all parts are greater than the national standard,so the whole mechanism is safe in the stress,and there is no damage to the dam body,the thrust generated to the dam body can be ignored,the dam crest only bears part of the pressure,has no impact on the dam body,and can increase the safety of the whole system.From the aspect of electrical load and battery performance,a set of electric layer equipment with sufficient power and reliability was developed to meet the energy consumption requirements of the device for walking,photographing,and data processing.In the second part of the electric industry,the advantages of industrial television and control professionals were brought into play.A set of high-definition,stable,and omni-directional image acquisition layer equipment was developed,and the dam was effectively inspected as an "eye" of the device.A set of precision and advanced control layer equipment has been developed,which can meet both the motion control requirements of the device and the image processing requirements of the device.Through dozens of component tests,rectification,improvement and overall debugging of the prototype,the field application of the dam patrol and manned automatic walking device in the pumped-storage hydroelectricity has achieved the desired effect It has achieved the expected goal of automatic inspection and successful detection of fractures,and has been successfully applied to pumped-storage hydroelectricity.The device realizes two modes of automatic patrol and manned patrol,which not only changes the traditional manual patrol mode,but also meets the requirements of manual reinspection.The power of the prototype battery is sufficient,and the single charge can meet the need of two full-range inspection.The prototype image is taken clearly and completely,and the image can show the real scene of the dam panel completely and clearly after defogging and stitching.The prototype has successfully detected and alerted the possible dangerous cracks in the dam,and achieved the expected goal of automatic inspection of the dam cracks.It has been approved by Xinyuan Company and won the 2018 scientific and Technological Progress Award.Based on the reservoir panel of Shandong taishan pumping storage power station,this paper mainly develops the principle,safety and reliability of the dam inspection manned automatic walking device and the correctness of data analysis.Based on the research results,a set of test verification institutions was made to verify the feasibility of the manned automatic walking device for dam inspection.This provides technical support for solving problems such as drowning and difficulty in carrying out inspection on the dam panel. |
