An unmanned inspection device for vertical or inclined shafts of power generation water diversion structures.

Abstract

This invention belongs to the field of water conservancy engineering inspection technology and discloses an unmanned inspection device for vertical or inclined shafts of power generation and water diversion structures. It includes an automatic inspection vehicle and a lifting and traction mechanism for controlling the vehicle's movement along the shaft or inclined shaft. The automatic inspection vehicle includes a vehicle body, two wheel frames located on both sides of the vehicle body, two folding arms located on both sides of the vehicle body, a folding mechanism inside the vehicle body, and a lighting mechanism and an inspection mechanism mounted on the vehicle body. This invention solves the problems of difficult assembly and disassembly of inspection equipment and long preparation time in the prior art for inspecting vertical or inclined shafts of water diversion tunnels.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering inspection technology, specifically to an unmanned inspection device for vertical or inclined shafts of power generation and water diversion structures. Background Technology

[0002] Vertical and inclined shafts are crucial components of power generation and water diversion structures. During long-term operation, the concrete lining structure inevitably suffers damage such as cracks, spalling, collapse, exposed reinforcement, erosion, pitting, and leakage. However, the daily maintenance period for vertical and inclined shafts in power generation and water diversion tunnels is short, with large vertical drops and steep slopes, making it impossible to erect scaffolding for comprehensive and detailed inspections. Furthermore, the water diversion tunnel space is relatively enclosed, with narrow equipment access points, making daily equipment access difficult and posing high safety risks. Existing equipment assembly and disassembly are difficult, and only simple visual inspections can be performed. Therefore, to efficiently, comprehensively, intuitively, and accurately understand the defects and safe operation of vertical and inclined shafts in power generation and water diversion tunnels, it is necessary to develop retractable, foldable, three-dimensional visualization and inspection equipment for these shafts. This equipment would facilitate efficient and comprehensive inspection of the flow channel, and allow for the measurement and location of defects.

[0003] Chinese patent CN217714155U discloses a detection device for inclined or vertical shaft water conveyance channels in pumped storage power stations, including an upper platform and a lower detection platform. The lower detection platform is located below the upper detection platform, and a moving guide mechanism is also provided below the lower detection platform. This technical solution overcomes the problems of steep slope (inaccessible to personnel for inspection), large detection area, and poor visual conditions in the inclined or vertical shaft sections of water conveyance channels in the prior art. It has the advantages of being able to replace manual inspection and having a stable inspection process.

[0004] However, the entrance to the power generation water diversion tunnel is relatively narrow. Existing equipment needs to be transported into the flow channel one by one before it can be assembled. After testing, the equipment needs to be disassembled and transported out through the inlet. Disassembly and assembly takes at least 5 hours, resulting in a long preparation time and low work efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an unmanned inspection device for vertical or inclined shafts of power generation and water diversion structures, thereby solving the problems of difficult assembly and disassembly of inspection equipment and long preparation time in the early stages of inspection for vertical or inclined shafts of water diversion tunnels in existing technologies.

[0006] This invention provides an unmanned inspection device for the vertical or inclined shaft of a power generation water diversion structure, including an automatic inspection vehicle and a lifting and traction mechanism for controlling the automatic inspection vehicle to move up and down along the vertical or inclined shaft.

[0007] The automatic inspection vehicle includes a vehicle body, two wheel frames respectively located on both sides of the vehicle body, two folding arms respectively located on both sides of the vehicle body, a folding mechanism located inside the vehicle body, and a lighting mechanism and a detection mechanism located on the vehicle body;

[0008] The wheel frame includes a longitudinal support rod arranged along the length of the vehicle body and a transverse telescopic link arranged opposite to each other and connected to the longitudinal support rod on the side closer to the vehicle body. Two first rollers are installed at the bottom of the longitudinal support rod, and each of the transverse telescopic links is connected to the vehicle body telescopic guide.

[0009] One end of the folding arm is hinged to the upper side of the middle of the longitudinal support rod. The longitudinal support rod is provided with a limiting mechanism to restrict the rotation of the folding arm within the 0-90° angle range. A second roller is installed at the end of the folding arm, and a connecting ear is provided on one side of the folding arm near the hinge end.

[0010] The folding mechanism includes a slider, a slider driving mechanism, and two push-pull rods. A guide rail is provided longitudinally in the middle area inside the vehicle body. The slider is slidably installed in the guide rail. The slider driving mechanism is used to drive the slider to slide along the guide rail. One end of each of the two push-pull rods is hinged to the slider, and the other end of each push-pull rod is hinged to the connecting lug on the corresponding side.

[0011] Furthermore, two guide sleeves are arranged opposite each other inside the vehicle body, with the two ends of the guide sleeves extending out of the two sides of the vehicle body respectively. Each of the transverse telescopic connecting rods is inserted into one end of each guide sleeve. The top of the guide sleeve is provided with a strip-shaped through groove. One end of each of the transverse telescopic connecting rods inserted into the guide sleeve is fixedly connected to a limiting block that passes through the strip-shaped through groove and slides to fit outside the guide sleeve.

[0012] Furthermore, the limiting mechanism includes an arc-shaped limiting groove and a limiting shaft. The arc-shaped limiting groove is formed on the longitudinal support rod with the hinge axis of the folding arm as the center. The limiting shaft is fixed to the lower side of the folding arm and limited within the arc-shaped limiting groove.

[0013] Furthermore, the slider driving mechanism includes a telescopic push rod, which is fixedly installed longitudinally inside the vehicle body, and the output shaft of the telescopic push rod is fixedly connected to the slider.

[0014] Furthermore, the vehicle body is provided with telescopic support assemblies near both ends. The telescopic support assembly includes a telescopic top rod and a support plate. The telescopic top rod is fixed inside the vehicle body, and the output shaft of the telescopic top rod extends out of the bottom of the vehicle body. The support plate is located on the lower side of the vehicle body and is fixed on the output shaft of the telescopic top rod.

[0015] Furthermore, a third roller is installed at both ends of the longitudinal support rod.

[0016] Furthermore, the second roller is provided with a first square connecting shaft on its frame, and the folding arm is a square tube. The first square connecting shaft is inserted into the folding arm and is secured inside the folding arm by a first locking screw.

[0017] The third roller has a second square connecting shaft on its frame. The longitudinal support rod is a square tube. The second square connecting shaft is inserted into the longitudinal support rod and is tightened inside the longitudinal support rod by a second locking screw.

[0018] Furthermore, the vehicle body has a square box structure, and openings are provided on both sides of the vehicle body for the movement of two push-pull rods.

[0019] Furthermore, the lighting mechanism includes two sets of floodlights located on the front and rear sides of the top of the vehicle body with adjustable tilt angles;

[0020] The detection mechanism includes a camera device, a 3D laser scanner, and a communication module. The camera device includes a retractable camera support rod, a camera mounting base located at the top of the camera support rod, and multiple cameras distributed around the camera mounting base. The 3D laser scanner is used to scan the interior of a vertical or inclined shaft. The camera device and the 3D laser scanner communicate with an external display screen through the communication module.

[0021] The vehicle body is also equipped with a battery that supplies power to the various electrical components on the automated inspection vehicle.

[0022] Furthermore, the lifting and traction mechanism includes an electric winch, a rope fall arrestor, a static rope, and a meter-counting reel;

[0023] The electric winch and the rope fall arrestor are both fixed outside the vertical or inclined shaft. The electric winch is used to raise and lower the static rope. After being led out by the electric winch, the static rope passes through the rope fall arrestor and is connected to the automatic inspection vehicle inside the vertical or inclined shaft. The meter wheel is used to measure the length of the static rope lowered.

[0024] The beneficial effects of this invention are reflected in:

[0025] This application allows for the retraction, folding, and unfolding of an automated inspection vehicle. During retraction and folding, the lateral telescopic links of the wheel frames on both sides retract into the vehicle body, the longitudinal support rods retract to the sides of the vehicle body, and the folding arms fold up to the upper side of the longitudinal support rods. This reduces the width of the automated inspection vehicle, facilitating its entry into vertical or inclined shafts from the water diversion tunnel entrance. After entering the shaft, the drive slider slides along the guide rail to push the two push-pull rods outward. When the two push-pull rods open outward, they cause the folding arms on both sides to rotate and unfold outward, and also cause the wheel frames on both sides to slide and unfold outward, thus quickly unfolding the automated inspection vehicle. When inspecting the vertical shaft, the unfolded automated inspection vehicle can contact the shaft wall via the second rollers on both sides. Limiting and guiding the automatic inspection vehicle (AEM) in the vertical shaft. When inspecting the inclined shaft, the four first rollers at the bottom of the AEM support the bottom of the shaft wall, while the second rollers on both sides of the AEM support the sides of the shaft wall, thus guiding the AEM's movement in the inclined shaft. After the inspection is completed, when the AEM needs to exit the power generation and water diversion tunnel entrance, the drive slider slides along the guide rail to drive the two push-pull rods to pull the folding arms on both sides to rotate inward, so that the folding arms on both sides fold up on the upper side of the longitudinal support rod. At the same time, the two push-pull rods will pull the wheel frames on both sides to retract inward, thereby automatically shrinking the vehicle body and retracting the folding arms, and then the shrunken AEM can exit the power generation and water diversion tunnel entrance.

[0026] Therefore, this application can automatically control the extension and retraction of the width of the automatic inspection vehicle and the folding and unfolding of the two side folding arms. The automatic inspection vehicle does not need to be disassembled and assembled when entering and exiting the narrow entrance of the power generation water diversion tunnel, making it convenient to enter and exit the narrow entrance of the power generation water diversion tunnel. This solves the problems of difficult assembly and disassembly of inspection equipment and long preparation time in the early stage of inspection of vertical shafts and inclined shafts of water diversion tunnels in the prior art. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0028] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the automatic inspection vehicle according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the wheel frame structure according to an embodiment of the present invention;

[0031] Figure 4This is a schematic diagram of the structure of the folding arm according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the telescopic top rod according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the automatic inspection vehicle deployed according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the automatic inspection vehicle in an embodiment of the present invention when it is retracted and folded.

[0035] Figure 8 This is a schematic diagram illustrating another method of using the automatic inspection vehicle in a vertical shaft according to an embodiment of the present invention.

[0036] In the attached diagram, 100 is the automatic inspection vehicle; 110 is the vehicle body; 111 is the guide rail; 112 is the guide sleeve; 1121 is the strip groove; 113 is the opening; 120 is the wheel frame; 121 is the longitudinal support rod; 1211 is the arc-shaped limiting groove; 122 is the transverse telescopic link; 1221 is the limiting block; 123 is the first roller; 124 is the third roller; 1241 is the second square connecting shaft; 1242 is the second locking screw; 130 is the folding arm; 131 is the second roller; 1311 is the first square connecting shaft; 1312 is the first locking screw. 132-Connecting ear; 133-Limiting shaft; 140-Folding mechanism; 141-Slider; 142-Slider drive mechanism; 143-Push-pull rod; 151-Floodlight; 161-Camera device; 1611-Camera support rod; 1612-Camera mounting base; 1613-Camera; 162-3D laser scanner; 170-Telescopic support assembly; 171-Telescopic top rod; 172-Support plate; 200-Lifting traction mechanism; 210-Electric winch; 220-Suspension rope fall arrestor; 230-Static rope; 240-Meter counting wheel. Detailed Implementation

[0037] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0038] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by those skilled in the art to which this invention pertains.

[0039] like Figures 1-8 As shown, this embodiment of the invention provides an unmanned inspection device for the vertical or inclined shaft of a power generation water diversion structure, including an automatic inspection vehicle 100 and a lifting and traction mechanism 200 for controlling the automatic inspection vehicle 100 to move up and down along the vertical or inclined shaft.

[0040] The automatic inspection vehicle 100 includes a body 110, two wheel frames 120 respectively located on both sides of the body 110, two folding arms 130 respectively located on both sides of the body 110, a folding mechanism 140 located inside the body 110, and a lighting mechanism and a detection mechanism located on the body 110.

[0041] The wheel frame 120 includes a longitudinal support rod 121 arranged along the length of the vehicle body 110 and a transverse telescopic link 122 arranged opposite to each other and connected to the longitudinal support rod 121 on the side near the vehicle body 110. Two first rollers 123 are installed at the bottom of the longitudinal support rod 121, and each transverse telescopic link 122 is respectively connected to the telescopic guide of the vehicle body 110.

[0042] Reference Figure 6 and Figure 7 To facilitate the telescopic connection of the lateral telescopic links 122 to the telescopic guides of the vehicle body 110, two guide sleeves 112 are arranged opposite each other inside the vehicle body 110. The two ends of each guide sleeve 112 extend outwards from both sides of the vehicle body 110. Each lateral telescopic link 122 is inserted into one end of its respective guide sleeve 112. A strip-shaped groove 1121 is provided at the top of each guide sleeve 112. A limiting block 1221, passing through the strip-shaped groove 1121 and slidingly adapted to the outside of the guide sleeve 112, is fixedly connected to the end of each lateral telescopic link 122 inserted into the guide sleeve 112. The limiting block 1221 guides and limits the telescopic movement of the lateral telescopic links 122 along the guide sleeve 112. During assembly, the lateral telescopic links 122 are inserted into the guide sleeve 112, and then the limiting block 1221 is passed through the strip-shaped groove 1121 on the guide sleeve 112 and fixed to the end of the lateral telescopic link 122. Assembly is convenient.

[0043] One end of the folding arm 130 is hinged to the upper side of the middle part of the longitudinal support rod 121. The longitudinal support rod 121 is provided with a limiting mechanism for restricting the rotation of the folding arm 130 within the 0-90° angle range. A second roller 131 is installed at the end of the folding arm 130. A connecting ear 132 is provided on one side of the folding arm 130 near the hinge end.

[0044] The "angle" mentioned above refers to the angle between the folding arm 130 and the longitudinal support rod 121. An angle of 0° indicates that the folding arm 130 and the longitudinal support rod 121 are parallel, and an angle of 90° indicates that the folding arm 130 and the longitudinal support rod 121 are perpendicular.

[0045] Reference Figure 3 and Figure 4The limiting mechanism includes an arc-shaped limiting groove 1211 and a limiting shaft 133. The arc-shaped limiting groove 1211 is formed on the longitudinal support rod 121 with the hinge axis of the folding arm 130 as the center. The limiting shaft 133 is fixed to the lower side of the folding arm 130 and limited within the arc-shaped limiting groove 1211. During the rotation of the folding arm 130 around the hinge axis, the limiting shaft 133 on the lower side of the folding arm 130 slides along the limiting shaft 133 on the longitudinal support rod 121. When the limiting shaft 133 slides to the outer end of the folding arm 130, it limits the folding arm 130 to a position perpendicular to the longitudinal support rod 121. When the limiting shaft 133 slides to the inner end of the folding arm 130, it limits the folding arm 130 to a position overlapping with the longitudinal support rod 121.

[0046] Reference Figure 6 and Figure 7 The folding mechanism 140 includes a slider 141, a slider driving mechanism 142, and two push-pull rods 143. A guide rail 111 is provided longitudinally in the middle area inside the body 110. The slider 141 is slidably installed in the guide rail 111. The slider driving mechanism 142 is used to drive the slider 141 to slide along the guide rail 111. One end of each of the two push-pull rods 143 is hinged to the slider 141, and the other end of each push-pull rod 143 is hinged to the connecting lug 132 on the corresponding side.

[0047] In this embodiment, the slider driving mechanism 142 includes a telescopic push rod, which can be driven by electric, pneumatic or hydraulic means. The telescopic push rod is fixedly installed in the body 110 along the longitudinal direction. The output shaft of the telescopic push rod is fixedly connected to the slider 141. In this way, the slider 141 can be driven to slide along the guide rail 111 by controlling the extension and retraction of the telescopic push rod.

[0048] In other embodiments, the telescopic push rod may also employ a drive structure such as a rack and pinion or a lead screw.

[0049] In this embodiment, the vehicle body 110 has a square box structure, and openings 113 are provided on both sides of the vehicle body 110 for the two push-pull rods 143 to move, which makes the shape simpler and more beautiful.

[0050] This application allows for the retraction, folding, and unfolding of the automatic inspection vehicle 100. During retraction and folding, the lateral telescopic linkages 122 of the wheel frames 120 on both sides retract into the vehicle body 110, the longitudinal support rods 121 retract to both sides of the vehicle body 110, and the folding arms 130 fold up to the upper side of the longitudinal support rods 121. This reduces the width of the automatic inspection vehicle 100, facilitating its entry into the vertical or inclined shaft from the water diversion tunnel entrance. After entering the vertical or inclined shaft, the drive slider 141 slides along the guide rail 111 to push the two push-pull rods 143 outwards. When the two push-pull rods 143 open outwards, they cause the folding arms 130 on both sides to rotate outwards and unfold, and also cause the wheel frames 120 on both sides to slide outwards and unfold, thus quickly unfolding the automatic inspection vehicle 100. When inspecting the vertical shaft, the unfolded automatic inspection vehicle 100 can pass through the second rollers 131 on both sides. The automatic inspection vehicle 100 is guided by the well wall to move up and down in the vertical shaft. When inspecting the inclined shaft, the four first rollers 123 at the bottom of the automatic inspection vehicle 100 are supported at the bottom of the well wall, while the second rollers 131 on both sides of the automatic inspection vehicle 100 are supported on the sides of the well wall, thus guiding the movement of the automatic inspection vehicle 100 in the inclined shaft. After the inspection is completed, when the automatic inspection vehicle 100 needs to exit the power generation water diversion tunnel, the drive slider 141 slides along the guide rail 111 to drive the two push-pull rods 143 to pull the folding arms 130 on both sides to rotate inward, so that the folding arms 130 on both sides fold up on the upper side of the longitudinal support rod 121. At the same time, the two push-pull rods 143 will pull the wheel frame 120 on both sides to retract to the middle, thus automatically shrinking the vehicle body 110 and retracting the folding arms 130, and then the shrunken automatic inspection vehicle 100 can be exited from the power generation water diversion tunnel.

[0051] Therefore, this application can automatically control the extension and retraction of the width of the automatic inspection vehicle 100 and the folding and unfolding of the two side folding arms 130. The automatic inspection vehicle 100 does not need to be disassembled and assembled when entering and exiting the narrow power generation water diversion tunnel. It is convenient to enter and exit the narrow power generation water diversion tunnel, thereby solving the problems of difficult assembly and disassembly of inspection equipment and long preparation time in the early stage of inspection of vertical shafts and inclined shafts of water diversion tunnels in the prior art.

[0052] Reference Figure 5 and Figure 6 The vehicle body 110 is provided with telescopic support components 170 near both ends. The telescopic support components 170 include telescopic top rods 171 and support plates 172. The telescopic top rods 171 can be driven by electric, pneumatic and hydraulic means. The telescopic top rods 171 are fixed inside the vehicle body 110. The output shaft of the telescopic top rods 171 extends out of the bottom of the vehicle body 110. The support plates 172 are located on the lower side of the vehicle body 110 and fixed on the output shaft of the telescopic top rods 171.

[0053] The inner wall of the inclined shaft is generally circular. After the automatic inspection vehicle 100 enters the inclined shaft, it is supported on the inner wall of the inclined shaft by the first roller 123 at the bottom. At this time, if the wheel frames 120 on both sides of the automatic inspection vehicle 100 are directly controlled to extend outward and the folding arms 130 on both sides are rotated outward to unfold, the inner wall of the inclined shaft will provide significant resistance to the extension of the wheel frames 120 and the unfolding of the folding arms 130. In this embodiment, by setting a telescopic support assembly 170, after the automatic inspection vehicle 100 enters the inclined shaft, the telescopic top rod 171 can be extended first to push the automatic inspection vehicle 100 upward. First, control the wheel frame 120 to extend and the folding arm 130 to unfold. This can reduce the resistance of the wheel frame 120 extending and the folding arm 130 unfolding. Similarly, when the automatic inspection vehicle 100 exits the power generation water diversion tunnel entrance, it can first control the telescopic top rod 171 to extend so that the support plate 172 is supported on the inner wall of the inclined shaft. Then, control the wheel frames 120 on both sides of the automatic inspection vehicle 100 to retract and the folding arms 130 on both sides to fold up. Then, control the telescopic top rod 171 to retract so that the automatic inspection vehicle 100 can be lowered onto the inner wall of the inclined shaft.

[0054] Reference Figure 2 Both ends of the longitudinal support rod 121 are equipped with third rollers 124. When the automatic inspection vehicle 100 passes through the bend in the well, it can be guided by the third rollers 124, thereby ensuring that the automatic inspection vehicle 100 passes through the bend in the well smoothly.

[0055] Preferably, the second roller 131 is provided with a first square connecting shaft 1311 on the wheel frame, the folding arm 130 is a square tube, the first square connecting shaft 1311 is inserted into the folding arm 130 and is tightened inside the folding arm 130 by a first locking screw 1312, which facilitates the extension and retraction adjustment of the position of the second roller 131 on the folding arm 130.

[0056] Similarly, the wheel frame of the third roller 124 is provided with a second square connecting shaft 1241, and the longitudinal support rod 121 is a square tube. The second square connecting shaft 1241 is inserted into the longitudinal support rod 121 and is tightened inside the longitudinal support rod 121 by the second locking screw 1242. This facilitates the extension and retraction adjustment of the position of the third roller 124.

[0057] Reference Figure 2 Generally, when the automatic inspection vehicle 100 is used in a vertical or inclined shaft, the axle of the second roller 131 extends along the height direction of the automatic inspection vehicle 100, and the axle of the third roller 124 extends along the width direction of the automatic inspection vehicle 100. The lifting and traction mechanism 200 tractions the side end of the automatic inspection vehicle 100. (Refer to...) Figure 8When the automatic inspection vehicle 100 is used in a vertical shaft, the second roller 131 can be adjusted to the direction in which the axis extends along the length of the automatic inspection vehicle 100. The lifting and traction mechanism 200 is suspended on the top of the automatic inspection vehicle 100. The automatic inspection vehicle 100 is limited within the shaft wall by the second rollers 131 on both sides and / or the third rollers 124 at the four corners.

[0058] Reference Figure 2 The lighting mechanism includes two sets of floodlights 151 located on the front and rear sides of the top of the vehicle body 110 and with adjustable tilt angle. The lighting mechanism is used to provide illumination for inspection.

[0059] The inspection mechanism includes a camera device 161, a 3D laser scanner 162, and a communication module. The camera device 161 includes a retractable camera support rod 1611, a camera mounting base 1612 located at the top of the camera support rod 1611, and multiple cameras 1613 distributed around the camera mounting base 1612. The 3D laser scanner 162 is used to scan the interior of vertical or inclined shafts. The camera device 161 and the 3D laser scanner 162 communicate with an external display screen through the communication module.

[0060] The vehicle body 110 is also equipped with a battery that supplies power to the various electrical components on the automatic inspection vehicle 100. The battery is placed inside a protective cover, which is made of waterproof and lightweight material.

[0061] This application uses a camera device 161 to capture images of the interior of a vertical or inclined shaft, and a three-dimensional laser scanner 162 to scan the interior of the vertical or inclined shaft, thereby achieving three-dimensional visualization detection of the inner wall of the vertical or inclined shaft.

[0062] Reference Figure 1 The lifting and traction mechanism 200 includes an electric winch 210, a rope fall arrestor 220, a static rope 230, and a measuring wheel 240. The electric winch 210 and the rope fall arrestor 220 are both fixed outside the vertical or inclined shaft. The electric winch 210 is used to wind up and lower the static rope 230. After being led out by the electric winch 210, the static rope 230 passes through the rope fall arrestor 220 and is connected to the automatic inspection vehicle 100 inside the vertical or inclined shaft. The measuring wheel 240 is used to measure the length of the static rope 230 lowered.

[0063] In this embodiment, the lifting and lowering of the automatic inspection vehicle 100 can be controlled by the electric winch 210 to wind and unwind the static rope 230.

[0064] The rope fall arrestor 220 uses the difference in the falling speed of an object for self-control. It is used when the automatic inspection vehicle 100 is lowered at a normal speed. When the automatic inspection vehicle 100 is lowered at an excessive speed, the rope fall arrestor 220 will lock itself under the action of the ratchet and pawl, thus preventing the automatic inspection vehicle 100 from falling.

[0065] The meter wheel 240 can measure the length of the static rope 230 as it is lowered, thereby determining the position of the automatic inspection vehicle 100 and accurately locating the defects.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. An unmanned inspection device for a vertical or inclined shaft of a power generation water diversion structure, comprising an automatic inspection vehicle and a lifting and traction mechanism for controlling the automatic inspection vehicle to move up and down along the vertical or inclined shaft, characterized in that: The automatic inspection vehicle includes a vehicle body, two wheel frames respectively located on both sides of the vehicle body, two folding arms respectively located on both sides of the vehicle body, a folding mechanism located inside the vehicle body, and a lighting mechanism and a detection mechanism located on the vehicle body; The wheel frame includes a longitudinal support rod arranged along the length of the vehicle body and a transverse telescopic link arranged opposite to each other and connected to the longitudinal support rod on the side closer to the vehicle body. Two first rollers are installed at the bottom of the longitudinal support rod, and each of the transverse telescopic links is connected to the vehicle body telescopic guide. One end of the folding arm is hinged to the upper side of the middle of the longitudinal support rod. The longitudinal support rod is provided with a limiting mechanism to restrict the rotation of the folding arm within the 0-90° angle range. A second roller is installed at the end of the folding arm, and a connecting ear is provided on one side of the folding arm near the hinge end. The folding mechanism includes a slider, a slider driving mechanism, and two push-pull rods. A guide rail is provided longitudinally in the middle area inside the vehicle body. The slider is slidably installed in the guide rail. The slider driving mechanism is used to drive the slider to slide along the guide rail. One end of each of the two push-pull rods is hinged to the slider, and the other end of each push-pull rod is hinged to the connecting lug on the corresponding side.

2. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 1, characterized in that: Two guide sleeves are arranged opposite each other inside the vehicle body. The two ends of the guide sleeves extend out of the two sides of the vehicle body respectively. Each of the transverse telescopic connecting rods is inserted into one end of the guide sleeve. The top of the guide sleeve is provided with a strip-shaped through groove. The end of each transverse telescopic connecting rod inserted into the guide sleeve is fixedly connected to a limiting block that passes through the strip-shaped through groove and slides to fit outside the guide sleeve.

3. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 1, characterized in that: The limiting mechanism includes an arc-shaped limiting groove and a limiting shaft. The arc-shaped limiting groove is formed on the longitudinal support rod with the hinge axis of the folding arm as the center. The limiting shaft is fixed to the lower side of the folding arm and limited within the arc-shaped limiting groove.

4. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 1, characterized in that: The slider drive mechanism includes a telescopic push rod, which is fixedly installed longitudinally inside the vehicle body, and the output shaft of the telescopic push rod is fixedly connected to the slider.

5. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 1, characterized in that: Telescopic support assemblies are provided near both ends of the vehicle body. Each telescopic support assembly includes a telescopic top rod and a support plate. The telescopic top rod is fixed inside the vehicle body, and the output shaft of the telescopic top rod extends out of the bottom of the vehicle body. The support plate is located on the lower side of the vehicle body and is fixed to the output shaft of the telescopic top rod.

6. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 1, characterized in that: Both ends of the longitudinal support rod are equipped with third rollers.

7. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 6, characterized in that: The second roller has a first square connecting shaft on its frame. The folding arm is a square tube. The first square connecting shaft is inserted into the folding arm and is secured inside the folding arm by a first locking screw. The third roller has a second square connecting shaft on its frame. The longitudinal support rod is a square tube. The second square connecting shaft is inserted into the longitudinal support rod and is tightened inside the longitudinal support rod by a second locking screw.

8. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 1, characterized in that: The vehicle body has a square box structure, and openings on both sides of the vehicle body are provided for the movement of two push-pull rods.

9. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 1, characterized in that: The lighting mechanism includes two sets of floodlights located on the front and rear sides of the top of the vehicle body, with adjustable tilt angles; The detection mechanism includes a camera device, a 3D laser scanner, and a communication module. The camera device includes a retractable camera support rod, a camera mounting base located at the top of the camera support rod, and multiple cameras distributed around the camera mounting base. The 3D laser scanner is used to scan the interior of a vertical or inclined shaft. The camera device and the 3D laser scanner communicate with an external display screen through the communication module. The vehicle body is also equipped with a battery that supplies power to the various electrical components on the automated inspection vehicle.

10. The unmanned inspection equipment for the vertical or inclined shaft of the power generation water diversion structure according to claim 1, characterized in that: The lifting and traction mechanism includes an electric winch, a rope fall arrestor, a static rope, and a meter-counting wheel; The electric winch and the rope fall arrestor are both fixed outside the vertical or inclined shaft. The electric winch is used to raise and lower the static rope. After being led out by the electric winch, the static rope passes through the rope fall arrestor and is connected to the automatic inspection vehicle inside the vertical or inclined shaft. The meter wheel is used to measure the length of the static rope lowered.

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