Intelligent inspection robot equipment for underground chamber detection and detection method

Abstract

The invention discloses intelligent inspection robot equipment for underground chamber detection and a detection method.The intelligent inspection robot equipment comprises a general detection robot and a detailed detection robot, the general detection robot is used for recognizing defects and obtaining the positions of the defects, that is, the defects are rapidly positioned, and preliminary judgment and screening are conducted on the defects; according to the detailed detection robot, the multi-detection cooperation module is adopted to reach the defect position / nearby to judge whether gas leakage exists in the defect area or not, and whether gas leakage exists in the defect position or not is detected more meticulously and accurately. According to the method, a multi-robot cooperation mode of a child-mother system composed of the general measurement robot and the detailed measurement robot is adopted, rough measurement and detailed measurement are combined, the detection efficiency is greatly improved, patrol inspection, defect analysis and evaluation can be conducted on the compressed air energy storage underground chamber without shutdown, and safe and healthy operation of the underground chamber is effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of energy storage technology, and in particular to an intelligent inspection robot device and a detection method for underground chamber detection. Background Art

[0002] Compressed air energy storage is still a new energy storage technology. According to statistics, by the end of 2021, compressed air energy storage accounted for 2.3% of the global new energy storage installed capacity, and compressed air accounted for 3.2% of China's new energy storage cumulative installed capacity. Compared with traditional pumped storage technology, compressed air energy storage has the advantages of low unit cost, large installed capacity, less site selection restrictions, short construction period, and little impact on the environment. It is an energy storage technology with large-scale promotion and application prospects second only to pumped storage power stations.

[0003] As an important part of compressed air energy storage power station, gas storage device is not only a key link to ensure the safe and stable operation of the system, but also an important factor affecting the economic efficiency of the power station. According to different application scenarios, gas storage devices can be divided into underground, above-ground and underwater types. Small-scale compressed air energy storage power stations can use above-ground steel storage tanks as gas storage devices. For large-scale compressed air energy storage power stations, the space required for gas storage can reach 100,000 or even 1 million cubic meters. If above-ground gas storage tanks are used, the land occupation is too large and the cost is too high. The gas storage device should be underground. Underground gas storage devices can mainly use structures such as mined geological caves, naturally formed water-bearing rock formations, mined or specially excavated salt caves, and underground caves artificially excavated in hard rocks. At present, most of the compressed air energy storage power stations built at home and abroad use natural geological structures, but these geological structures are often unattainable, which greatly restricts the site selection and large-scale construction of power station projects. For areas with construction needs but no special geological conditions such as salt rocks, saline layers, and abandoned mines, artificially excavating underground chambers in hard rocks as underground gas storage has become an important way. Artificial underground chambers are generally tunnel-shaped, with a diameter of about ten to several dozen meters, and are located 100 meters or even deeper underground. As a closed gas storage space, the sealing of the underground chamber must be guaranteed. Once a gas leak occurs, the efficiency of compressed gas energy storage will be greatly reduced; because the underground chamber works in a high temperature and high pressure environment and is located very deep underground, it is difficult to detect if a leak occurs; and the loss of a shutdown will be very large; currently, compressed gas energy storage underground chambers are still a relatively new field, and there is no supporting equipment or mature method to conduct non-stop inspections on the operating status of the underground chamber to ensure the healthy operation of the underground chamber. Therefore, it is very valuable and significant to design a set of underground chambers that can regularly detect defects and gas leaks in underground chambers without stopping the underground chambers in high temperature and high pressure environments, and even repair them. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides an intelligent inspection robot equipment and detection method for underground chamber detection, which can detect internal defects and gas leakage problems in underground chambers under special working conditions, and repair some repairable defects, thereby providing effective protection for the working efficiency and healthy operation of compressed gas energy storage underground chambers.

[0005] According to one aspect of the present invention, there is provided an intelligent inspection robot equipment for underground chamber inspection, comprising a general inspection robot and a detailed inspection robot; the general inspection robot is used to identify and obtain the size and position of defects; the detailed inspection robot comprises a multi-detection collaborative module and a motion control module, the multi-detection collaborative module is used to perform collaborative inspection of gas leakage; the motion control module is used to control the detailed inspection robot to move to the defect position / nearby and control the multi-detection collaborative module to perform collaborative inspection work in the defect area.

[0006] The general inspection robot of the present invention can quickly locate the defect position and make a preliminary judgment and screening of the defect. The detailed inspection robot moves to the defect position or near the defect position for collaborative inspection, which can more carefully and accurately detect whether there is a gas leak at the defect. Through the multi-robot collaboration of the parent-child system composed of the general inspection robot and the detailed inspection robot, the underground chamber can be inspected, the defect analyzed and evaluated without stopping, which greatly improves the inspection efficiency and can effectively ensure the safe and healthy operation of the underground chamber.

[0007] As a further technical solution, the general inspection robot includes a general inspection camera, the lens of which can rotate 360 ​​degrees; the general inspection camera is used to quickly identify visually visible surface defects and / or relatively low temperature areas of the temperature field. In some technical solutions, the general inspection camera integrates a visible light camera and an infrared camera, and the software installed in the visible light camera and infrared camera system can extract features from the images of the general inspection (rough inspection) including photos and temperature fields, and quickly identify visually visible surface defects or relatively low temperature areas of the temperature field.

[0008] As a further technical solution, the multi-detection collaborative module includes an optical proximity observation module, an airflow detection module, a contact vibration detection module and a temperature field detection module. The optical proximity observation module is used for close observation and obtaining defect images, and can also transmit the defect images back to the general inspection robot / terminal; the airflow detection module is used to obtain the gas flow rate changes in the defect area and determine whether there is a gas leak; the contact vibration detection module is used to collect and analyze the vibration signals of the defective part and determine whether there is a gas leak; the temperature field detection module is used to monitor and analyze the temperature signals of the defective part; when the airflow detection module cannot determine whether there is a gas leak in the defective area, the contact vibration detection module is used to detect and determine whether there is a gas leak; the temperature field detection module assists the contact vibration detection module in finding the gas leak location.

[0009] Specifically, the contact vibration detection module is used to determine whether there is a gas leakage at a defective part when no obvious change in gas flow rate is detected; the temperature field detection module is used to determine the position of the detection movement to assist the contact vibration detection module in finding the location of the gas leakage when the vibration signal of a defective part is not obvious but the temperature field is abnormal.

[0010] It should be noted that if the difference between the temperature value of the current defective part and the ambient temperature exceeds the set threshold, or there is a temperature gradient in the current test area, it means that the temperature field is abnormal.

[0011] By combining the above-mentioned multiple detection modules to conduct qualitative and quantitative detection and mutual verification of defect locations, gas leakage in underground chambers can be detected more accurately and quickly, providing guarantee for the healthy and efficient operation of underground chambers.

[0012] As a further technical solution, the collection and analysis of vibration signals can be the collection and analysis of vibration characteristics including vibration signal intensity, spectrum characteristics, time characteristics, spatial distribution of vibration signals, etc. The vibration signal intensity refers to the vibration amplitude; the spectrum characteristics refer to the frequency characteristics of the vibration signal on the spectrum; the time characteristics refer to the duration and stability of the vibration signal; the spatial distribution of the vibration signal is the location information of the vibration signal.

[0013] As a further technical solution, the general survey robot includes a general survey robot platform, on which a power cable drum vehicle is provided, the power cable drum vehicle includes a cable drum, a cable drum drive motor for driving the cable drum, and an umbilical cable sleeved on the cable drum, the free end of the umbilical cable is connected to the detailed survey robot, and the general survey robot releases or recovers the detailed survey robot through the power cable drum vehicle. When a detailed survey task needs to be performed, the general survey robot releases the detailed survey robot and controls it to move to a specified position, and when the detailed survey robot completes the task, it is recovered by the general survey robot.

[0014] As a further technical solution, the above-mentioned intelligent inspection robot equipment also includes a power supply track. A load-bearing connector and a supporting wheel system are provided above the general inspection robot platform; the supporting wheel system is connected to the general inspection robot through the load-bearing connector, and the general inspection robot is slidably installed on the power supply track; a small power supply track is provided below the power supply track, and the general inspection robot is electrically connected to the small power supply track through a sliding contact sheet. The small power supply track supplies power to the general inspection robot and the detailed inspection robot.

[0015] As a further technical solution, the contact vibration detection module and the temperature field detection module are integrated together in a cross array distribution mode. Specifically, the contact vibration detection module may include multiple vibration sensors, and the temperature field detection module may include multiple temperature sensors. The vibration sensors and temperature sensors are distributed in the form of a cross array, and vibration signals and temperature signals can be obtained simultaneously during measurement.

[0016] As a further technical solution, the detailed detection robot platform is also provided with a repair mechanism, which determines whether repair work needs to be performed according to the detection result.

[0017] As a further technical solution, the general inspection robot is equipped with an underground chamber overall operation status evaluation system. The underground chamber overall operation status evaluation system is used to analyze and evaluate the entire underground chamber based on the data sent back by the detailed inspection robot, and issue an evaluation report.

[0018] Specifically, the detailed measurement robot transmits the detected defect data and the repaired data back to the underground chamber overall operation status evaluation system, which analyzes and evaluates the overall data and then issues a report on the overall operation status of the underground chamber after the inspection is completed.

[0019] Another aspect of the present invention provides an intelligent inspection method for underground chamber detection, comprising the steps of:

[0020] Use general inspection robots to identify defects, and obtain the size and location of defects when defects are identified;

[0021] The detailed inspection robot is controlled to move to the defect location / nearby, and the multi-detection collaborative module integrated on the detailed inspection robot is used to perform collaborative inspection on the defect area to confirm whether there is a gas leak in the defect area.

[0022] As a further technical solution, the general inspection camera of the general inspection robot is lowered to the position located on the central axis of the chamber, and the detailed inspection robot is in a suspended state; the general inspection robot moves in a stepping motion, and the general inspection camera rotates 360 degrees with each step of the general inspection robot, and performs a 360-degree scan of the inner wall of the chamber to obtain the video image and temperature field distribution data of the inner surface of the chamber; defect identification is performed on the video image and temperature field distribution data to obtain the size and position of the defect; the detailed inspection robot is controlled to move along the underground chamber to the designated defect position, and the multi-detection collaborative module carried by the detailed inspection robot is used to detect the defects of the inner wall of the chamber.

[0023] As a further technical solution, the method for identifying defects of the general inspection robot is to mark as defects situations where there are obvious apparent defects visually observed or situations where there are relatively low temperature areas but are not visually obvious.

[0024] As a further technical solution, the acquisition of the size and position of the above-mentioned defect includes the steps of:

[0025] Obtain the three-dimensional spatial data of the underground chamber and determine the position coordinates of the general survey robot;

[0026] According to the position coordinates of the general survey robot, coordinate data of each screen scanned by the general survey robot is obtained to generate a three-dimensional image model, which can be displayed on a terminal;

[0027] When the identified screen has defects, the identified defective screen is associated with the screen coordinate data to obtain the coordinate data of each defective screen;

[0028] The defect image is divided into pixel grids, the size and coordinate position of the defect part in the defect image are calculated, and then combined with the coordinate data of the defect image, the actual size of the defect and the actual position coordinates in the underground chamber are obtained.

[0029] As a further technical solution, the above-mentioned multi-detection collaborative module collaborative detection includes the following steps:

[0030] Place the airflow detection module close to the defective area to detect the strength of the gas flow rate change. If there is an obvious change in the gas flow rate, it means there is a gas leak;

[0031] If no obvious change in gas flow rate is detected and it is impossible to confirm whether there is a gas leak, the contact vibration detection module and the temperature field detection module are placed close to the defect to collect and analyze the vibration signal and temperature signal at the same time. According to the vibration signal, it is determined whether there is a gas leakage defect in the current test area. If an obvious vibration signal is detected, it is determined that there is a gas leak;

[0032] When no obvious vibration signal is detected, but the temperature field detection module detects that the temperature field is abnormal, the detection position is moved to the low temperature area to continue detecting the vibration signal;

[0033] If no obvious vibration signal is detected at the lowest temperature point in the test area, it is determined that there is no gas leakage.

[0034] As a further technical solution, if no obvious vibration signal is detected in the test area, it is determined that there is no gas leakage.

[0035] As a further technical solution, the above-mentioned intelligent inspection method also includes judging whether the defect needs to be repaired and whether it can be repaired based on the detection results. If it is confirmed that the defect needs to be repaired, the detailed inspection robot is controlled to repair the defective part. After the repair is completed, the collaborative close-up inspection work is repeated to confirm the repair effect.

[0036] In some schemes, when the general inspection robot detects obvious surface defects in the chamber and there is a relatively low temperature area, if repair is possible, it is necessary to control the repair mechanism carried by the detailed inspection robot to perform the repair work.

[0037] In some schemes, when the detailed inspection robot detects a gas leak, if repair is possible, it is necessary to control the repair mechanism carried by the detailed inspection robot to perform the repair work.

[0038] As a further technical solution, the above-mentioned intelligent inspection method also includes the steps: the general inspection robot analyzes and evaluates the entire underground chamber based on the defect data and / or repaired data sent back by the detailed inspection robot, and issues an overall operation status evaluation report of the underground chamber after the inspection is completed.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The present invention pioneered a method of multi-robot collaboration in a parent-child system consisting of a general measurement robot and a detailed measurement robot, which is used to inspect, analyze and evaluate defects in underground chambers, and can effectively ensure safe and healthy operations in underground chambers.

[0041] 2. The present invention adopts a method combining rough measurement and detailed measurement, which can greatly improve the detection efficiency; for large-area underground chambers, rough measurement (general measurement) can quickly locate defects and make preliminary judgments and screening of defects, while detailed measurement can make the detection more detailed and accurate.

[0042] 3. The present invention can be used for compressed air energy storage underground chambers, and can enable the compressed air energy storage underground chambers to be inspected without stopping the machine, thus avoiding economic losses caused by stopping for inspection.

[0043] 4. The gas leakage detection of the present invention adopts a combination of multiple detection methods and a mutual verification method, which can more accurately detect the gas leakage of the underground chamber and provide guarantee for the healthy and efficient operation of the underground chamber.

[0044] 5. The present invention is used for compressed air energy storage underground chambers to improve the utilization efficiency of compressed air energy storage underground chambers and avoid deflation and secondary inflation of underground chambers due to regular inspections (secondary inflation is costly and time-consuming).

[0045] 6. The present invention can not only detect chamber defects, but the detailed detection robot can also be equipped with repair equipment to repair the defects and evaluate the repair effects, thereby greatly improving the operating efficiency.

[0046] 7. After completing the inspection task, the equipment of the present invention can provide an accurate health status report on the overall operation of the underground chamber.

[0047] 8. The present invention can be used in other types of large space structures, such as tunnels, mines, air-raid shelters, large pipe galleries, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction will be given below to the drawings used in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 Block diagram of the underground chamber intelligent inspection robot system;

[0050] Figure 2 Rendering of the intelligent inspection robot for underground chambers;

[0051] Figure 3 Power supply track module;

[0052] Figure 4 General testing robot;

[0053] Figure 5 A parent-child system consisting of a general testing robot and a detailed testing robot;

[0054] Figure 6 Detailed testing of robots;

[0055] Figure 7 Obtaining coordinate data of general inspection robot defects;

[0056] Figure 8 General measurement camera scanning working mode;

[0057] Fig. 9 Approach detection work steps;

[0058] Fig.10 This is the inspection workflow diagram of the intelligent inspection robot;

[0059] In the figure, 1. general test robot platform; 2. general test camera; 3. power supply track; 4. rope drive mechanism cable; 5. small power supply track; 6. sliding contact piece; 7. load-bearing connector; 8. supporting wheel frame; 9. supporting wheel system; 10. cable drum drive motor; 11. cable drum; 12. umbilical cable; 13. detailed test robot; 14. telescopic rod. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the content described is a part of the implementation method of the present invention, rather than all the implementation methods. Based on the implementation methods in the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, the technical features in each implementation method or a single implementation method provided by the present invention are arbitrarily combined with each other to form a new technical solution. This combination is not subject to the constraints of the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve it. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that this combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0061] The present invention is an intelligent inspection robot equipment and detection method for underground chambers, which uses a general inspection robot camera to quickly detect and a detailed inspection robot 13 to approach and detect to perform inspection work; the general inspection robot and the detailed inspection robot 13 can be commercialized intelligent robots. In a specific example, the general inspection robot is used to identify and obtain the size and position of defects; the detailed inspection robot 13 includes a multi-detection collaborative module and a motion control module, and the multi-detection collaborative module is used to perform collaborative detection of gas leakage; the motion control module is used to control the detailed inspection robot 13 to move to the defect position / nearby and control the multi-detection collaborative module to perform collaborative detection work in the defect area to confirm whether there is a gas leak in the defect area.

[0062] In some examples of the present invention, the intelligent inspection robot system structure diagram is as follows: Figure 1 As shown, the overall structure is Figure 2As shown. The general inspection robot includes a general inspection robot motion control system, a general inspection robot detection system, and an underground chamber overall operation status evaluation system; the general inspection robot motion control system is used for reciprocating motion for rough inspection and scanning, and controls its own motion according to the rough inspection results, and plans the motion trajectory of the detailed inspection robot; the general inspection robot detection system includes an optical and infrared detection and defect recognition positioning and evaluation system, and the general inspection robot detection system can also be used to generate motion instructions and send them to the detailed inspection robot; the underground chamber overall operation status evaluation system is used to evaluate the overall operation status of the underground chamber and generate an evaluation report. The detailed inspection robot includes a detailed inspection robot control system, a detailed inspection robot detection system, and a local defect repair and evaluation system. The detailed inspection robot control system is used to move to a specified position according to the instructions of the general inspection robot, and the detailed inspection robot detection system is used to control the coordinated action of multiple detection collaborative modules to perform detection work, and perform multi-sensor signal analysis, processing and evaluation. The local defect repair and evaluation system is used to control the mechanical arm to perform repair work, re-detect and evaluate the local defects after repair, and transmit the detected defect data and / or repair data back to the general inspection robot.

[0063] In some examples, the structure of the underground chamber intelligent inspection robot also includes a power supply track module. The power supply track 3 can be a customized structure and can be customized and laid according to the structure of the underground chamber. A specific power supply track module is provided below:

[0064] like Figure 3 As shown, the power supply track 3 is the motion track of the general testing robot, which supports the general testing robot. In addition, three sliding contact power supply tracks 5 are designed under the power supply track 3. Copper sheets are installed on both sides of the power supply tracks 5, which are respectively connected to the positive and negative poles of the power supply. The general testing robot is designed with a graphite alloy sliding contact sheet 6 that maintains sliding contact with the power supply track 5. The power supply track 5 not only supplies power to the general testing robot and the detailed testing robot 13, but also connects the general testing robot to the control terminal through the power cat to realize signal transmission.

[0065] After the underground chamber is completed, it is necessary to conduct accurate three-dimensional mapping of the underground chamber to obtain the three-dimensional spatial data of the underground chamber, and then when installing the power supply track 3, the starting point position on the power supply track 3 is set to coincide with the starting point of the three-dimensional spatial data of the underground chamber.

[0066] Some examples include Figure 4As shown, the general inspection robot module is composed of a rope drive mechanism, a support wheel system 9, a contact power supply mechanism, a general inspection robot platform 1, a power cable reel and a general inspection camera 2. The rope drive mechanism is a power system installed on the track, including a drive motor and a rope drive mechanism cable 4, and the drive motor is located at one end of the power supply track 3. The support wheel system 9 is connected to the general inspection robot through a load-bearing connector 7. On the one hand, the general inspection robot is firmly and slidably fixed on the power supply track 3. At the same time, it is also the motion actuator of the general inspection robot. The forward and reverse rotation of the drive motor can drive the general inspection robot to reciprocate along the track. A displacement sensor is installed on the general inspection robot to record the real-time position data of the general inspection robot. The contact power supply mechanism (system) is composed of a small power supply track 5 and a sliding contact sheet 6, which mainly provides power and carrier signal transmission for the general inspection robot and the detailed inspection robot 13.

[0067] The general inspection robot platform 1 integrates important modules such as the power cable drum car and the general inspection camera 2. The general inspection robot is connected to the detailed inspection robot 13 through the power cable drum car. The power cable drum car is equipped with a high-power cable drum drive motor 10, which can easily lift the detailed inspection robot 13 body. At the same time, it will also adjust the length of the released umbilical cable 12 in real time according to the movement distance of the detailed inspection robot 13, so that the umbilical cable will not be too redundant. Figure 5 As shown, the general measurement robot and the detailed measurement robot 13 form a parent-child system. The detailed measurement robot 13 is a subsystem of the general measurement robot. When it is necessary to perform a detailed measurement task, the general measurement robot releases it and controls it to move to a specified position. When the detailed measurement robot 13 completes the task, it is recovered by the general measurement robot. The power cable drum vehicle includes a cable drum 11, a cable drum drive motor 10 for driving the cable drum 11, and an umbilical cable 12 sleeved on the cable drum 11. The free end of the umbilical cable 12 is connected to the detailed measurement robot 13. The general measurement robot releases or recovers the detailed measurement robot 13 through the umbilical cable 12 on the power cable drum vehicle.

[0068] The universal test camera 2 is a key core component of the universal test robot module. The universal test camera 2 can be composed of a visible light camera or an infrared camera. Lighting lights will be arranged around the camera to provide sufficient lighting for the camera. The lens of the universal test camera 2 can rotate 360 ​​degrees. The rotating lens is equipped with an angle sensor to record the real-time angle of the camera lens. The universal test camera 2 can be connected to the universal test robot platform 1 through a telescopic rod 14.

[0069] In a specific example of the present invention, the general inspection camera 2 integrates a visible light camera and an infrared camera. The general inspection robot detection system carried by the general inspection robot can extract the apparent defects and temperature field features of the visible light image and infrared image obtained by the general inspection robot detection. The situation where there are obvious apparent defects visually observed or the situation where there is a relatively low temperature area but it is not visually obvious is marked as a defect. There are mainly four situations for the general inspection robot detection:

[0070]

[0071] Combined with the surveyed 3D coordinate data of underground chambers, the coordinate data of all underground chambers scanned by the general survey robot are obtained, and the photographed (scanned) series of annular area images of the inner wall of the chamber are posted on the 3D model of the chamber to form a complete 3D picture model of the underground chamber. In order to facilitate the viewing of defects, the 3D image model can also be unfolded to a plane for viewing.

[0072] In a specific example of the present invention, Figure 7 As shown, the workflow for obtaining the size and location coordinates (rough information) of the defect (part) is as follows:

[0073] Obtain the three-dimensional spatial data of the underground chamber and determine the position coordinates of the general survey robot;

[0074] According to the position coordinates of the general survey robot, the coordinate data of each screen scanned by the general survey robot is obtained, and a three-dimensional image model is generated and displayed on the terminal;

[0075] When the identified screen has defects, the identified defective screen is associated with the screen coordinate data to obtain the coordinate data of each defective screen;

[0076] The defect image is divided into pixel grids, the size and coordinate position of the defect part in the defect image are calculated, and then combined with the coordinate data of the defect image, the actual size of the defect and the actual position coordinates in the underground chamber are obtained.

[0077] The further detailed process is as follows:

[0078] First, after the underground chamber is completed, it is necessary to conduct accurate three-dimensional mapping of the underground chamber to obtain the three-dimensional spatial data of the underground chamber, and then when installing the power supply track 3, the starting point position on the power supply track 3 is set to coincide with the starting point of the three-dimensional spatial data of the underground chamber.

[0079] Then, the general inspection robot resets to the starting point of the track, and lowers the general inspection camera 2 to the position located at the central axis of the chamber. At this time, the detailed inspection robot 13 is in a suspended state. The general inspection robot moves forward in a stepping motion. The stepping distance is the best viewing angle width of the inner wall of the chamber captured by the general inspection camera 2. The general inspection robot takes one step at a time and then stops. The general inspection camera 2 rotates 360 degrees to scan the inner wall of the chamber 360 degrees. At the same time, the scanned picture is stored to obtain a cylindrical video picture of the inner surface of the chamber. Then, the system's built-in visual defect recognition software module is used to identify defects in the stored video. Then the general inspection robot takes another step, repeats the above inspection action, saves the picture, and identifies defects; this cycle is repeated until the entire inner wall surface of the chamber is scanned once, and the defects are stored and identified.

[0080] Since the general inspection robot knows its own accurate position coordinates in real time during the inspection process, and the general inspection camera 2 is located at the center axis of the chamber (according to the three-dimensional surveying and mapping data, the distance from the wall to the camera, that is, the actual radius of the chamber, can be known), therefore, when the defective part is within the viewing angle of the general inspection camera 2, the general inspection robot can associate the identified defective image with the coordinate data to obtain the coordinate data of each defective image; then according to the viewing angle of the general inspection camera 2, the captured defective image is divided into pixel grids through software, the size of the defective part is accurately circled, and the coordinate position of the defective part in the defective image is calculated; combined with the aforementioned coordinate data of the defective image, the actual size of the defect and the actual position coordinates in the underground chamber can be accurately obtained.

[0081] At this point, the general inspection robot has the general information of the defective part. For the compressed gas energy storage underground chamber, the existence of defects may cause leakage. Once leakage occurs, the efficiency of compressed gas energy storage will be reduced. One of the most important inspection tasks of the underground chamber intelligent inspection robot is to detect whether the underground chamber is leaking. Although the general inspection robot has obtained the image information of the defect, it cannot determine whether the defective part is leaking. Therefore, the detailed inspection robot 13 needs to move to the vicinity of the defective part for further accurate inspection to confirm whether the defective part is leaking. At this time, the general inspection robot needs to control the detailed inspection robot 13 to go to the defective position for close inspection.

[0082] The function of the detailed inspection robot 13 is to move along the underground chamber to the position designated by the general inspection robot, and use the sensor module carried by itself to detect the defects of the inner wall of the chamber, and evaluate whether the defects will cause gas leakage in the underground chamber, and whether they need to be repaired and whether they can be repaired. Then, according to the instructions of the general inspection robot, the repair mechanism carried by it will perform repair work on the defective parts. Figure 6As shown, the detailed inspection robot 13 can be regarded as a wall-climbing robot inspection and repair platform (such as a negative pressure wall-climbing robot or an electromagnetic adsorption wall-climbing robot). Its main body is a wall-climbing robot, which is connected to the general inspection robot through an umbilical cable 12, receives instructions from the general inspection robot and transmits the detected information back to the general inspection robot, and then performs corresponding operations.

[0083] The detailed inspection robot 13 is equipped with multiple detection modules, including an optical approach observation module, an airflow detection module, a contact vibration detection module and a temperature field detection module; the optical approach observation module can not only observe the defect situation closely, but also transmit the real-time detection picture back to the general inspection robot / terminal display; the vibration detection module is integrated with the temperature field detection module. The airflow detection module is an airflow sensor used to measure and monitor airflow parameters. It can obtain information such as the speed, direction, and turbulence of the airflow in real time, and further provide a criterion for whether the inner wall of the chamber is leaking. The contact vibration detection module directly presses the vibration sensor probe against the defective part or the nearby part to detect the vibration signal of the defective part (gas leakage must be accompanied by vibration). According to the strength of the vibration signal, it can be judged whether the defect has gas leakage. The temperature field detection module uses a temperature sensor to detect the temperature field distribution of the defective part, and the distribution of the temperature field can also provide a basis for judging whether there is a gas leak. The vibration sensor and the temperature sensor are distributed in a cross array to form an array vibration and temperature sensor module, and the vibration signal and the temperature signal can be obtained simultaneously during measurement. By using the detailed detection robot 13 to perform a detection method combining the above four detection methods, it is possible to accurately detect whether gas leakage occurs at the defects of the inner wall of the underground chamber, thereby obtaining accurate detection results.

[0084] In some examples, when the airflow detection module cannot determine whether there is a gas leak in the defective area, a contact vibration detection module is used to detect whether there is a gas leak; the temperature field detection module assists the contact vibration detection module in finding the gas leak location. Specifically, the contact vibration detection module is used to determine whether there is a gas leak in the defective part when no obvious gas flow rate change is detected; the temperature field detection module is used to determine the position of the array vibration and temperature sensor module to detect movement when the vibration signal of a defective part is not obvious but the temperature field is abnormal, so as to assist the contact vibration detection module in finding the gas leak location.

[0085] It should be noted that an obvious change in gas flow rate means that the gas flow rate change reaches or even exceeds the set value; an obvious vibration signal means that the vibration signal reaches or even exceeds the set threshold; the above set value or threshold can be set according to existing methods or human experience.

[0086] The specific detection steps and judgment methods of the detailed robot are as follows:

[0087] During the inspection, first place the airflow sensor close to the defective part (the flexible skirt structure of the airflow sensor can isolate the influence of the lateral gas flow), and then observe the change in gas flow rate. The working principle of the airflow sensor is mainly based on the principles of heat transfer and gas dynamics. When the gas flows through the hot wire, the temperature of the hot wire will decrease due to the cooling effect of the gas. The airflow sensor calculates the gas flow rate by measuring the temperature change of the hot wire. Normally, the airflow sensor passes a constant current through the hot wire to keep it at a constant temperature. When the gas flows through the hot wire, the temperature of the hot wire will drop, and the airflow sensor will adjust the current to restore the temperature of the hot wire to the set value. By measuring the change in current, the airflow sensor can calculate the gas flow rate. If there is a significant change in gas flow rate, it means that there is a gas leak here. This method is effective for obvious gas leaks; for weak gas leaks, vibration detection is still needed for confirmation.

[0088] When the air flow sensor cannot confirm whether there is a gas leak, the detailed testing robot 13 will place the integrated array vibration and temperature sensor module close to the defect. When gas leaks, the gas is released through the leak point, which will generate abnormal vibrations at the leak point and around it. By collecting and analyzing the vibration signal, the relevant features in the vibration signal can be extracted and identified, so as to analyze and judge whether there is a gas leakage defect in the current test area.

[0089] Vibration detection can be analyzed from the following aspects:

[0090] 1. Signal strength (vibration amplitude)

[0091] When gas leaks, high-pressure gas sprays out through the leak point, generating strong vibrations around the leak point. The intensity of these vibration signals is usually significantly higher than the background vibration under normal operating conditions. When the vibration amplitude at the defect is significantly larger than the background vibration by an order of magnitude, it can be determined that there is a gas leak at the defect.

[0092] 2. Spectral characteristics

[0093] The vibration signal generated by the leakage usually has specific frequency characteristics in the spectrum, such as high-frequency components. Different types of leakage will produce different spectrum characteristics, which will be significantly different from the frequency of background noise. The main components in the spectrum characteristics are extracted and matched with the feature library of the leakage signal to determine whether they meet the leakage characteristics. The frequency of background noise is generally stable and mostly distributed at low frequencies. The main frequency of the vibration signal at the leakage point can reach about 3k-10kHz.

[0094] 3. Time characteristics

[0095] The vibration signal generated by gas leakage usually has a certain duration and stability, while the environmental interference signal is often short-lived and random. Monitor the duration of the vibration signal. If the vibration signal lasts for a long time and is stable, it may be a leakage signal.

[0096] 4. Position matching (spatial distribution of vibration signals)

[0097] Array-distributed vibration sensors can detect the spatial distribution of vibration signals. Vibration sensors near the leak point will detect stronger signals. By integrating the distribution of signal strengths collected by each vibration sensor, the leak point can be accurately located (deploy multiple vibration sensors to obtain vibration signals at different locations. Use the time difference and intensity difference of multi-point signals to determine the location of the leak point).

[0098] Combining the above evaluation criteria can effectively improve the accuracy and reliability of gas leakage detection, ensuring timely discovery and handling of gas leakage problems.

[0099] Temperature field detection can be analyzed from the following aspects:

[0100] Temperature field detection part, temperature field is a method of detecting leakage by monitoring the temperature changes caused by gas leakage. The temperature field has the following characteristics when leaking:

[0101] 1. Abnormal temperature

[0102] The temperature change caused by gas leakage is usually significantly different from the ambient temperature. The monitored temperature value is compared with the ambient temperature. If it exceeds the set temperature difference threshold, it is determined that there may be a gas leak.

[0103] 2. Temperature gradient

[0104] Generally, leaked gas will form an obvious temperature gradient around the leak point. The temperature gradient in the monitoring area is calculated by the temperature value detected by the temperature sensor. If the detected temperature gradient exceeds the set threshold, it means that there is a temperature gradient, and there may be a leak.

[0105] In some examples of the present invention, if the difference between the temperature value of the current defective part and the ambient temperature exceeds a set threshold, or there is a temperature gradient in the current test area, it indicates that the temperature field is abnormal.

[0106] Temperature field detection is used as a means of assisting in detecting gas leaks. When the vibration and temperature detection integrated module is detecting, if the vibration data can directly determine that there is a gas leak at the defect, then it can be directly concluded that there is a leak here without referring to the temperature field data. When no vibration signal is detected or the vibration signal is not obvious, that is, no obvious vibration signal is detected, and there is an abnormality in the temperature field, the position of the array vibration and temperature sensor module is moved, and the vibration signal is continued to be detected until an obvious vibration signal is detected, then it is determined that there is a gas leak. If no obvious vibration signal is detected in the defect test area, that is, within a certain range of the defect, it is determined that there is no gas leak.

[0107] In some examples, such as Fig. 9 As shown, the specific detection steps and judgment method of the detailed detection robot 13 include the following steps:

[0108] S1. When the airflow detection module (airflow sensor) detects obvious changes in gas flow rate, it is determined that there is a gas leak at the defect; if no obvious changes in gas flow rate are detected (no vibration signal is detected or the detected vibration signal is not obvious) and it is impossible to confirm whether there is a gas leak, a contact vibration detection module (vibration sensor) is used for detection;

[0109] S2. When the contact vibration detection module detects an obvious vibration signal, it is determined that there is a gas leak at the defect;

[0110] S3. When the contact vibration detection module does not detect obvious vibration signals, but the temperature field detection module (temperature sensor) detects that there is a temperature gradient at the defective part, the detection position is moved to the low temperature area, and the lowest temperature point in the test area is found according to the temperature signal;

[0111] S4. Until the lowest temperature point in the test area is found, if an obvious vibration signal is detected at the lowest temperature point, it is determined that there is a gas leak; if no obvious vibration signal is detected at the lowest temperature point, it is determined that there is no gas leak.

[0112] Preferably, the specific detection steps and judgment method of the detailed detection robot 13 include the following steps:

[0113] S1. When the airflow detection module (airflow sensor) detects obvious changes in gas flow rate, it is determined that there is a gas leak at the defect; if no obvious changes in gas flow rate are detected (no vibration signal is detected or the detected vibration signal is not obvious) and it is impossible to confirm whether there is a gas leak, a contact vibration detection module (vibration sensor) is used for detection;

[0114] S2. When the contact vibration detection module detects an obvious vibration signal, it is determined that there is a gas leak at the defect;

[0115] S3, when the contact vibration detection module does not detect an obvious vibration signal, and the temperature field detection module (temperature sensor) detects that there is a temperature gradient at the defective part, the detection position is moved to the low temperature area, and the process returns to step S2 to continue detecting the vibration signal;

[0116] S4. If no obvious vibration signal is detected at the lowest temperature point, it is determined that there is no gas leakage.

[0117] Finally, it is judged whether the defect needs to be repaired and whether it can be repaired based on the test results. If it is confirmed that the defect needs to be repaired, the repair mechanism carried by the detailed wall-climbing robot is controlled to repair the defective part. After the repair is completed, the above close-range detection method is repeated to confirm the repair effect.

[0118] In a specific embodiment of the present invention, the inspection method is as follows Fig.10 As shown, a general inspection robot is used for rapid scanning, combined with the absolute position coordinates of the power supply track 3 and the three-dimensional model data of the underground chamber, so as to identify the defect and obtain the defect coordinate data; according to the identified defect coordinate data combined with the path planning algorithm, the detailed inspection robot (wall climbing robot) 13 is controlled to move to the defect location; a multi-detection collaborative module (multi-detection module) is used to obtain more detailed defect data; the defect evaluation and repair system is used to evaluate whether the defect data is repairable and whether the repair is qualified, and confirm whether it is repairable according to the detailed defect data. If it cannot be repaired, the defect can be recorded; if it can be repaired, the detailed inspection robot is controlled to repair the defect; if the repair is qualified, the repair is completed, and if the repair is unqualified, the defect continues to be repaired.

[0119] During the entire testing process or repair process, the general testing robot is equipped with an underground chamber overall operation status evaluation system which can analyze and evaluate the entire underground chamber based on the defect data and / or repaired data sent back by the detailed testing robot, and issue an overall operation status report of the underground chamber after the inspection is completed.

[0120] It should be noted that the above implementation modes are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned implementation modes, those skilled in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the implementation modes of the present invention.

Claims

1. An intelligent inspection robot equipment for underground chamber detection, characterized in that: It includes a general inspection robot and a detailed inspection robot; the general inspection robot is used to identify and obtain the size and position of defects; the detailed inspection robot includes a multi-detection collaborative module and a motion control module, the multi-detection collaborative module is used to perform collaborative inspection of gas leakage; the motion control module is used to control the detailed inspection robot to move to the vicinity of the defect position and control the multi-detection collaborative module to perform collaborative inspection work in the defect area.

2. The intelligent inspection robot equipment for underground chamber detection according to claim 1, characterized in that: The general inspection robot comprises a general inspection camera, the lens of which can rotate 360 ​​degrees; the general inspection camera integrates a visible light camera and an infrared camera, and is used to quickly identify visually visible surface defects and / or relatively low temperature areas of the temperature field.

3. The intelligent inspection robot equipment for underground chamber detection according to claim 1 is characterized in that: The multi-detection collaborative module includes an optical proximity observation module, an airflow detection module, a contact vibration detection module and a temperature field detection module. The optical proximity observation module is used for close observation and obtaining defect images; the airflow detection module is used to obtain the gas flow rate changes in the defect area and determine whether there is a gas leak; the contact vibration detection module is used to collect and analyze the vibration signals of the defective part and determine whether there is a gas leak; the temperature field detection module is used to monitor and analyze the temperature signals of the defective part; when the airflow detection module cannot determine whether there is a gas leak in the defective area, the contact vibration detection module is used to detect and determine whether there is a gas leak; the temperature field detection module assists the contact vibration detection module in finding the gas leakage location.

4. The intelligent inspection robot equipment for underground chamber detection according to claim 1, characterized in that: The general survey robot includes a general survey robot platform, on which a power cable drum vehicle is provided, the power cable drum vehicle includes a cable drum, a cable drum drive motor for driving the cable drum, and an umbilical cable sleeved on the cable drum, the free end of the umbilical cable is connected to the detailed survey robot, and the general survey robot releases or recovers the detailed survey robot through the power cable drum vehicle.

5. The intelligent inspection robot equipment for underground chamber detection according to claim 3 is characterized in that: The contact vibration detection module and the temperature field detection module are integrated together in a cross array distribution manner.

6. An intelligent inspection method for underground chamber detection, characterized in that: Includes steps: Use general inspection robots to identify defects, and obtain the size and location of defects when defects are identified; The detailed inspection robot is controlled to move to the defect location / nearby, and the multi-detection collaborative module integrated on the detailed inspection robot is used to perform collaborative inspection on the defect area to confirm whether there is a gas leak in the defect area.

7. The intelligent inspection method for underground chamber detection according to claim 6, characterized in that: The acquisition of the size and position of the defect comprises the steps of: Obtain the three-dimensional spatial data of the underground chamber and determine the position coordinates of the general survey robot; Acquire coordinate data of each screen scanned by the general survey robot according to the position coordinates of the general survey robot; When the identified screen has defects, the identified defective screen is associated with the screen coordinate data to obtain the coordinate data of each defective screen; The defect image is divided into pixel grids, the size and coordinate position of the defect part in the defect image are calculated, and then combined with the coordinate data of the defect image, the actual size of the defect and the actual position coordinates in the underground chamber are obtained.

8. The intelligent inspection method for underground chamber detection according to claim 6, characterized in that: The collaborative detection of multiple detection collaborative modules includes the following steps: Place the airflow detection module close to the defective area to detect the strength of the gas flow rate change. If there is an obvious change in the gas flow rate, it is determined that there is a gas leak; If no obvious change in gas flow rate is detected, the contact vibration detection module and the temperature field detection module are placed close to the defect to collect and analyze the vibration signal and temperature signal at the same time. According to the vibration signal, it is determined whether there is a gas leakage defect in the current test area. If an obvious vibration signal is detected, it is determined that there is a gas leakage. When no obvious vibration signal is detected, but the temperature field detection module detects that the temperature field is abnormal, the detection position is moved to the low temperature area to continue detecting the vibration signal; If no obvious vibration signal is detected at the lowest temperature point in the test area, it is determined that there is no gas leakage.

9. The intelligent inspection method for underground chamber detection according to claim 8, characterized in that: The vibration signal includes vibration signal intensity, frequency spectrum characteristics, time characteristics, and spatial distribution of the vibration signal.

10. The intelligent inspection method for underground chamber detection according to claim 6, characterized in that: It also includes judging whether the defect needs to be repaired and whether it can be repaired based on the test results. If it is confirmed that the defect needs to be repaired, the detailed inspection robot is controlled to repair the defective part. After the repair is completed, the close-up collaborative inspection work is repeated to confirm the repair effect.

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