An underground artificial cavern monitoring and maintenance system and method for compressed air energy storage power stations

Abstract

The application relates to a compressed air energy storage power station underground artificial cavern monitoring and repairing system and method, wherein a track is arranged in the cavern, a robot is arranged on the track, a wireless information interaction base station is further arranged in the cavern, the robot is wirelessly connected with an external control system through the wireless information interaction base station, the robot is provided with at least a moving module for controlling the robot to move on the track, a monitoring module for monitoring cavern wall deformation and leakage point conditions and a grabbing module for grabbing a sealing layer patch to fill the cavern wall leakage point. Through the scheme, real-time monitoring of the cavern wall deformation conditions and the leakage point conditions can be realized, the leakage points can be repaired, the process of manually repairing after the cavern is filled and discharged is avoided, the loss of the cavern caused by repeated filling and discharging is reduced, and the filling and discharging cost and the labor cost are saved.

Description

Technical Field

[0001] This invention belongs to the field of underground storage and maintenance technology, specifically relating to a monitoring and maintenance system and method for underground artificial storage and maintenance of compressed air energy power stations. Background Technology

[0002] With the increasing proportion of new energy sources and the gradual improvement of the electricity trading market, compressed air energy storage technology has ushered in greater development opportunities.

[0003] Compressed air energy storage technology is a large-scale, long-term energy storage and power generation technology. Its technical principle is as follows: during the period of wind and solar power curtailment and off-peak electricity, electricity is used to drive a compressor to compress air and send it to an underground gas storage facility for storage; when the peak electricity demand period arrives, the high-pressure air in the gas storage facility is heated by a heat exchanger or combustion chamber and sent to an expander to expand and do work, driving a generator to generate electricity, thereby achieving the functions of peak shaving and valley filling of energy.

[0004] Currently, underground compressed air storage facilities primarily utilize salt caverns. These facilities employ a water-soluble extraction method, injecting fresh water into thick underground salt layers or salt domes to dissolve the salt rock. The saturated or near-saturated brine is then discharged, forming a salt cavern underground. Salt cavern gas storage facilities offer advantages such as excellent sealing and high stability. However, their construction is significantly limited by geographical conditions; areas requiring compressed air energy storage power plants may lack salt rock, making underground storage impossible.

[0005] Besides salt cavern gas storage facilities, underground artificial caverns have also become an important option for compressed air energy storage power plants in recent years. These are gas storage structures with a certain volume, artificially excavated from hard underground rock. Based on the shape of the gas storage chamber, underground artificial caverns can be classified as follows: Figure 5 The two types shown are large tank type and tunnel type.

[0006] Regardless of the type of underground artificial cavern, its wall structure is as follows: Figure 2 As shown, from the inside out, it mainly consists of three parts: a sealing layer, a concrete lining, and surrounding rock. The airtightness of this type of gas storage facility is provided by sealing materials, such as steel, while the stability and deformation of the storage chamber are provided by the concrete lining.

[0007] The advantages of artificial storage chambers mainly lie in their strong engineering controllability and flexible layout according to construction needs. Underground artificial storage chambers are currently a key research and demonstration direction for compressed air energy storage projects. Therefore, in terms of gas storage methods, future compressed air energy storage power plants will primarily use artificial storage chambers, supplemented by other gas storage methods.

[0008] Compressed air energy storage power stations have been validated through the construction of experimental power stations ranging from 5kW to 1.5MW. Currently, the projects already in operation have reached the 60MW to 100MW level, and 300MW-level projects are also in the planning and design process. The working pressure of these gas storage facilities generally varies by several megapascals, and the basic pressure inside the gas storage facilities is also generally several megapascals, or even as high as ten megapascals or more.

[0009] The basic pressure is the constant pressure maintained during normal operation of the gas storage facility. For maintenance or periodic testing, personnel, equipment, and materials need to enter the gas storage facility, which requires venting the gas and reducing the pressure inside the storage facility to atmospheric pressure.

[0010] From a technical perspective, when the pressure inside the chamber is reduced to atmospheric pressure, the support of the internal pressure of the chamber wall on the surrounding rock is eliminated, and the surrounding rock deforms inward. Repeated inflation and deflation will increase the deformation of the chamber, which is detrimental to the deformation of the sealing layer and concrete lining and its long-term working performance.

[0011] From an economic perspective, the cost of a single short-selling operation is enormous. For example, a short-selling operation of 100,000 m³... 3 For example, if the working pressure of a silo varies from 10 to 16 MPa, then during maintenance, the air pressure inside the silo needs to be reduced from the basic pressure of 10 MPa to atmospheric pressure. After maintenance, the air pressure needs to be reduced back to 10 MPa. The direct electricity cost is about 600,000 yuan, which is a huge expense.

[0012] Therefore, in engineering practice, there is a need for a monitoring and maintenance system for artificial reservoirs to monitor the situation inside the reservoir in real time, measure the displacement of the reservoir walls, detect air leaks, and perform simple air leak repairs to reduce the problem of frequent opening and closing of the reservoir, ensure the safe operation of the artificial reservoir, and save on power plant maintenance costs. Summary of the Invention

[0013] This invention provides a monitoring and maintenance system and method for underground artificial silos in compressed air energy storage power stations. By setting up tracks and running robots inside the silos, the system can monitor the deformation and leakage of the silos in real time and provide corresponding leakage repair functions. This can reduce the inflation and deflation process of the silos while ensuring the safe operation of the artificial silos, thus saving electricity and maintenance costs.

[0014] The technical means employed in this invention are as follows:

[0015] A monitoring and maintenance system for an underground artificial tunnel of a compressed air energy storage power station includes a track inside the tunnel, a robot mounted on the track, and a wireless information interaction base station inside the tunnel. The robot is wirelessly connected to an external control system through the wireless information interaction base station. The robot is equipped with at least a movement module, a monitoring module, and a grasping module.

[0016] Preferably, the track includes a strip track and / or a fixed track. The strip track is laid in a spiral shape from top to bottom along the inner wall of the chamber, and the robot is mounted on the strip track. The fixed track includes a support frame connected to the inner wall of the chamber and fixed points on the support frame. The robot is mounted on the fixed points, wherein the fixed points are located at least three positions distributed in the upper, middle and lower parts of the entire chamber space.

[0017] Preferably, the movement mode of the robot's movement module includes one or a combination of two modes: automatic movement on a track and passive movement under the control of an external control system.

[0018] Preferably, the robot's monitoring module includes a camera unit and a distance measurement unit, as well as a first processing unit capable of receiving data from the camera unit and the distance measurement unit.

[0019] Preferably, the first processing unit processes the relative displacement of the tunnel wall generated during the time difference between the two measurements based on the distance measurement results between the tunnel wall and the robot at a location within the tunnel provided by the distance measurement unit, and then draws a displacement cloud map.

[0020] Preferably, the monitoring module further includes a sound detection unit and a colored substance release unit, as well as a second processing unit that can receive data transmission from the sound detection unit and control the colored substance release unit and the imaging unit.

[0021] Preferably, a sealing layer patch is also installed inside the chamber. The sealing layer patch is located in a position that the robot can grasp. The robot's grasping module can control the grasping of the sealing layer patch and move it to the location of the leak in the chamber.

[0022] Preferably, a power unit for driving the robot to move is also provided. This power unit is one or more of the following combinations: a power supply device laid on the track, a mechanical transmission device installed on the robot, and a rechargeable power supply device installed on the robot.

[0023] Furthermore, a method for monitoring and maintaining an underground artificial cavern in a compressed air energy storage power station includes the following steps:

[0024] S1: Set up a track and a wireless information interaction base station on the inner wall of the tunnel, and set up a robot on the track;

[0025] S2: Monitor the deformation of the tunnel wall: The distance measurement unit of the robot monitoring module measures the distance between the tunnel wall and the robot's location. Based on the two measurement results, the relative displacement of the tunnel wall generated within the time difference between the two measurements is calculated. The first processing unit of the monitoring module then draws the corresponding displacement cloud map and transmits the displacement cloud map and the real-time image data captured by the monitoring module's imaging unit to the external control system. The manual or automatic control system then determines the parts of the tunnel wall that need to be inspected for deformation.

[0026] S3: Monitor the leak point in the chamber wall: First, the sound detection unit of the monitoring module monitors and receives the sound of the leak point in the chamber wall to determine the initial location of the leak point. Then, the second processing unit of the monitoring module controls the colored substance release unit of the monitoring module to release colored substance at the initial location of the leak point, and transmits the data captured in real time by the shooting unit to the control system, so that the accurate leak point can be determined with the help of manual assistance.

[0027] S4: Repair the leak in the chamber wall: After the leak is identified in step S3, the robot grabbing module carries the sealing layer patch stored in the chamber and places it at the leak. With the help of the air pressure inside the chamber, the leak is plugged by the sealing layer patch.

[0028] Preferably, S2 includes at least the following two monitoring methods:

[0029] S2.1: Mobile monitoring: A spiral track is laid from top to bottom along the inner wall of the chamber. A robot is positioned on this track and monitors the distance to the inner wall of the chamber and takes pictures during the robot's movement.

[0030] S2.2: Fixed monitoring: A support frame and fixed points are set on the inner wall of the chamber. The robot is set at the fixed points and performs distance monitoring and photography on the inner wall of the chamber.

[0031] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0032] This solution is the first to propose a monitoring and maintenance scheme for artificial gas chambers. By using a robot installed inside the chamber to interact with an external operation and control system, it monitors the chamber's deformation and leaks, eliminating the need for manual inflation and deflation of the chamber. This avoids the damage caused by repeated inflation and deflation and reduces costs. Furthermore, this solution provides a leak detection and repair method, enabling real-time and rapid repair of leaks, minimizing losses. It also eliminates the need for manual deflation, significantly reducing the damage caused by inflation and deflation and the associated electricity and labor costs. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the robot's running track inside the chamber of this invention.

[0034] Figure 2 for Figure 1 A schematic diagram of the tunnel wall structure of A-A'.

[0035] Figure 3 This diagram illustrates the mobile monitoring capabilities of the robot in this solution.

[0036] Figure 4 This is a schematic diagram illustrating the fixed monitoring of the robot in this solution.

[0037] Figure 5 The diagram shows the structure of a large tank-type gas storage facility (a) and a tunnel-type gas storage facility (b).

[0038] in:

[0039] 1. Cavern, 11. Sealing layer, 12. Concrete lining, 13. Surrounding rock, 14. Traffic tunnel; 2. Track, 3. Robot, 4. Wireless information interaction base station, 5. Support frame, 6. Fixing point. Detailed Implementation

[0040] This invention provides a monitoring and maintenance system for underground artificial caverns in compressed air energy storage power stations, such as... Figure 2 As shown, taking a large tank-type gas storage facility as an example, its chamber 1 consists of an outer layer of surrounding rock 13, a middle layer of concrete lining 12, and an inner sealing layer 11, as follows. Figure 1 and Figure 3 As shown, a track 2 is installed inside the chamber 1, and a robot 3 is installed on the track 2. A wireless information interaction base station 4 is also installed inside the chamber 1. The robot 3 is wirelessly connected to the external control system through the wireless information interaction base station 4, which enables the robot 3 to communicate with the external operation control system, transmit internal photos, videos and other test data to the outside, and receive external operation commands. The robot 3 is developed for monitoring and handling accidents inside the chamber 1 and should have at least the following functions: (1) It can move autonomously or under external control inside the chamber 1 and reach every point in the chamber 1; (2) It can transmit clear photos and videos in real time; (3) It can scan and monitor the displacement of the inner wall of the chamber 1; (4) It can detect leaks, locate and detect leaks; (5) It can interact with the external operating system and repair small leaks under external operation; (6) It has stable working performance and can standby and work for a long time under cyclic high pressure and high and low temperature cycling conditions.

[0041] The track 2 includes a strip track 2 and / or a fixed track 2, such as... Figure 3As shown, the strip track 2 is laid in a spiral shape from top to bottom along the inner wall of the chamber 1. The robot 3 is moved and positioned on the strip track 2. Preferably, after the robot 3 completes one round of movement on the strip track 2 from top to bottom or from bottom to top, it can scan all positions on the inner wall of the chamber 1. The robot 3 can perform mobile monitoring and close-range strip scanning on the strip track 2. It is not affected by the obstruction of the internal structure and has high accuracy. Precise positioning of the robot 3 is required. Figure 4 As shown, the fixed track 2 includes a support frame 5 connected to the inner wall of the chamber 1 and fixed points 6 on the support frame 5. The robot 3 is set on the fixed points 6. The fixed points 6 are located at least three positions distributed in the upper (point A), middle (point B) and lower (point C) parts of the entire space inside the chamber 1. More positions can be added as needed. Preferably, the scanning surface of the robot 3 can cover the entire inner wall of the chamber 1. The robot 3 performs fixed monitoring at the fixed points 6. The figure shows the robot scanning range at the middle fixed point B, which is a long-distance segmented scanning. The fixed position has high accuracy, is easy to set up, and is easy to implement.

[0042] Furthermore, the robot 3 is equipped with at least a movement module, a monitoring module, and a grasping module.

[0043] The movement mode of the robot 3's movement module includes one or a combination of two modes: automatic movement of the robot 3 on track 2 and passive movement of the robot 3 under the control of an external control system.

[0044] The monitoring module of robot 3 includes a camera unit and a distance measurement unit, as well as a first processing unit capable of receiving data from both the camera unit and the distance measurement unit. The first processing unit calculates the relative displacement of the tunnel wall within the time difference between the two distance measurements taken at a location within tunnel 1 by the distance measurement unit, and then plots a displacement cloud map to monitor the tunnel wall displacement, understand the operating status of tunnel 1, and ensure the safety of tunnel 1.

[0045] In addition, the monitoring module also includes a sound detection unit and a colored substance release unit, as well as a second processing unit that can receive data transmission from the sound detection unit and control the colored substance release unit and the imaging unit, wherein the colored substance includes colored gas or powder.

[0046] Preferably, sealing layer patches of different specifications are also provided inside the chamber 1. These sealing layer patches are located at positions that the robot 3 can grasp. Under the instructions of the external operating system, the grasping module of the robot 3 can grasp the sealing layer patches and move them to the leak point in the chamber 1, placing the patches on the leak point. Preferably, after grasping the sealing layer patches, the robot 3 can place them at any position on the inner wall of the chamber 1, which can be achieved through the laying of the strip track 2 and the mechanical gripper on the robot 3.

[0047] Furthermore, a power unit is provided to drive the robot 3. This power unit is one or a combination of one or more of the following: a power supply device laid on track 2, a mechanical transmission device installed on the robot 3, and a rechargeable power supply device installed on the robot 3. Specifically, the functional device laid on track 2 provides power to the robot 3 by using the track 2 as an electric system; the mechanical transmission device installed on the robot 3 utilizes the large pressure variation range inside the air reservoir during inflation and deflation to convert pressure potential energy into kinetic and electrical energy for the robot 3's movement; and the rechargeable functional device installed on the robot 3 uses a rechargeable battery suitable for large pressure differential circulating air pressure and high / low temperature environments as its power supply system. Currently, the basic pressure of the project is several megapascals, the maximum pressure is around ten megapascals, and the range is several megapascals. The air temperature inside chamber 1 varies with the filling temperature and the pressure inside the chamber. The highest temperature can reach about 80°C, while the lowest temperature during evacuation may drop below 0°C. The rechargeable battery should have good and stable performance in the above environment.

[0048] Furthermore, a method for monitoring and maintaining an underground artificial cavern in a compressed air energy storage power station is provided, comprising the following steps:

[0049] S1: A track 2 and a wireless information interaction base station 4 are set on the inner wall of the chamber 1, and a robot 3 is set on the track 2 to realize information communication between the robot 3 and the external operating system; the track 2 is preferably a spiral track 2 laid from top to bottom on the inner wall of the chamber 1.

[0050] S2: Monitor the deformation of the tunnel wall: The distance measurement unit of the monitoring module of robot 3 measures the distance between the tunnel wall and the location of robot 3. Based on the two measurement results, the relative displacement of the tunnel wall generated within the time difference between the two measurements is calculated. The first processing unit of the monitoring module then draws the corresponding displacement cloud map and transmits the displacement cloud map and the real-time data captured by the imaging unit of the monitoring module to the external control system. Combined with the photos or videos taken in the tunnel 1, the parts of the tunnel wall that need to be inspected and repaired are determined manually or automatically by the control system.

[0051] Preferably, S2 includes at least the following two monitoring methods:

[0052] S2.1: Mobile monitoring: A spiral track 2 is laid from top to bottom along the inner wall of the chamber 1. A robot 3 is moved and positioned on the track 2. During the movement of the robot 3, it monitors the distance to the inner wall of the chamber 1 and takes pictures.

[0053] S2.2: Fixed monitoring: A support frame 5 and a fixed point 6 are set on the inner wall of the chamber 1. The robot 3 is set on the fixed point 6 and performs distance monitoring and photography on the inner wall of the chamber 1.

[0054] S3: Monitor leaks in the chamber walls: First, the sound detection unit of the monitoring module monitors and receives the sound of leaks in the chamber walls to determine the initial location of the leak. Then, automatically or under the control of the external control system, the second processing unit of the monitoring module controls the colored substance release unit of the monitoring module to release colored gas or powder at the initial location of the leak. The real-time photos, videos and other data captured by the imaging unit are transmitted to the control system. The accurate leak point is then determined manually by drawing a grid in the sealing layer inside chamber 1 to form a positioning coordinate system, and determining the accurate leak point coordinates based on the captured photos and other data.

[0055] S4: Repair the leak in the chamber wall: After the leak is identified in step S3, under the instruction of the external operation control system, the robot 3 grabbing module carries the sealing layer patch stored in chamber 1 and places it at the leak. With the help of the air pressure inside chamber 1, the leak is plugged by the sealing layer patch.

Claims

1. A monitoring and maintenance system for an underground artificial cavern of a compressed air energy storage power station, characterized in that, A track (2) is set inside the tunnel (1), a robot (3) is set on the track (2), and a wireless information interaction base station (4) is also set inside the tunnel (1). The robot (3) is wirelessly connected to the external control system through the wireless information interaction base station (4); and the robot (3) is equipped with at least a mobile module, a monitoring module and a grasping module. The track (2) includes a strip track (2) and / or a fixed track (2). The strip track (2) is laid in a spiral shape from top to bottom along the inner wall of the chamber (1). The robot (3) is moved and set on the strip track (2). The fixed track (2) includes a support frame (5) connected to the inner wall of the chamber (1) and a fixed point (6) on the support frame (5). The robot (3) is set on the fixed point (6). The fixed point (6) is located at least three positions distributed in the upper, middle and lower parts of the entire space inside the chamber (1). The monitoring module of the robot (3) includes a shooting unit and a distance measurement unit, as well as a first processing unit that can receive data transmissions from the shooting unit and the distance measurement unit; The first processing unit processes the relative displacement of the tunnel wall generated during the time difference between the two measurements based on the distance measurement results between the tunnel wall and the robot (3) at a location in the tunnel (1) provided by the distance measurement unit, and draws a displacement cloud map.

2. The monitoring and maintenance system for an underground artificial cavern of a compressed air energy storage power station according to claim 1, characterized in that, The movement mode of the robot (3) includes one or a combination of two modes: the robot (3) moving automatically on the track (2) and the robot (3) moving passively under the control of an external control system.

3. The monitoring and maintenance system for an underground artificial cavern of a compressed air energy storage power station according to claim 1, characterized in that, The monitoring module also includes a sound detection unit and a colored substance release unit, as well as a second processing unit that can receive data transmission from the sound detection unit and control the colored substance release unit and the imaging unit.

4. The monitoring and maintenance system for an underground artificial cavern of a compressed air energy storage power station according to claim 3, characterized in that... A sealing layer patch is also installed in the chamber (1). The sealing layer patch is located in a position that the robot (3) can grasp. The grasping module of the robot (3) can control the grasping of the sealing layer patch and move it to the leak point of the chamber (1).

5. The monitoring and maintenance system for an underground artificial cavern of a compressed air energy storage power station according to claim 1, characterized in that, It is also equipped with a power device to drive the robot (3) to move. The power device is one or more of the following combinations: a power supply device laid on the track (2), a mechanical transmission device installed on the robot (3), and a rechargeable power supply device installed on the robot (3).

6. A method for monitoring and maintaining an underground artificial cavern in a compressed air energy storage power station, characterized in that, Includes the following steps: S1: Set up a track (2) and a wireless information interaction base station (4) on the inner wall of the tunnel (1), and set up a robot (3) on the track (2). S2: Monitor the deformation of the tunnel wall: The distance measurement unit of the robot (3) monitoring module measures the distance between the tunnel wall and the location of the robot (3). Based on the two measurement results, the relative displacement of the tunnel wall generated within the time difference between the two measurements is calculated. The first processing unit of the monitoring module draws the corresponding displacement cloud map and transmits the displacement cloud map and the real-time shooting data of the monitoring module to the external control system. The manual or automatic control system determines the parts of the tunnel wall that need to be inspected for deformation. S3: Monitor the leak point in the chamber wall: First, the sound detection unit of the monitoring module monitors and receives the sound of the leak point in the chamber wall to determine the initial location of the leak point. Then, the second processing unit of the monitoring module controls the colored substance release unit of the monitoring module to release colored substance at the initial location of the leak point, and transmits the data captured in real time by the shooting unit to the control system, so that the accurate leak point can be determined with the help of manual assistance. S4: Repair the leak in the chamber wall: After the leak is identified in step S3, the robot (3) grabs the sealing layer patch stored in the chamber (1) and places it at the leak. With the help of the air pressure inside the chamber (1), the leak is plugged by the sealing layer patch.

7. A method for monitoring and maintaining an underground artificial reservoir for a compressed air energy storage power station according to claim 6, characterized in that, S2 includes at least two of the following monitoring methods: S2.1: Mobile monitoring: A spiral track (2) is laid from top to bottom along the inner wall of the chamber (1). A robot (3) is moved and set on the track (2). During the movement of the robot (3), the distance monitoring and photography of the inner wall of the chamber (1) are carried out. S2.2: Fixed monitoring: A support frame (5) and a fixed point (6) are set on the inner wall of the chamber (1). The robot (3) is set on the fixed point (6) and the distance monitoring and photography of the inner wall of the chamber (1) are carried out.

Images