An intelligent inspection robot equipment and inspection method for underground chamber detection

Abstract

The present invention discloses an intelligent inspection robot equipment and an inspection method for underground chamber detection. The intelligent inspection robot equipment includes a general inspection robot and a detailed inspection robot. The general inspection robot is used to identify defects and obtain the positions of the defects, that is, quickly locate the defects and conduct preliminary judgment and screening on the defects. The detailed inspection robot uses a multi-detection cooperation module to reach the defect position / nearby to judge whether there is gas leakage in the defect area, and more carefully and accurately detect whether there is gas leakage at the defect. The present invention adopts the cooperation mode of a multi-robot mother-child system composed of a general inspection robot and a detailed inspection robot, combines rough measurement and detailed measurement, greatly improves the inspection efficiency, can conduct inspection, defect analysis and evaluation on the compressed air energy storage underground chamber without shutdown, and effectively ensures the safe and healthy operation of the underground chamber.

Description

Technical Field

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

[0002] Compressed air energy storage is still a new type of energy storage technology at present. According to statistics, as of the end of 2021, the proportion of compressed air energy storage in the global new energy storage installed capacity was 2.3%, and the proportion of compressed air in the cumulative installed capacity of new energy storage in China was 3.2%. Compared with the traditional pumped-storage energy storage technology, compressed air energy storage has the advantages of low unit cost, large installed scale, less restricted site selection, short construction period, and small environmental impact. It is an energy storage technology with great potential for large-scale popularization and application second only to pumped-storage power stations.

[0003] As an important part of a compressed air energy storage power station, the 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 economy 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 the level of hundreds of thousands or even millions of cubic meters. If above-ground gas storage tanks are used, the land occupation is too large and the cost is too high. Therefore, underground gas storage devices are more suitable. Underground gas storage devices mainly utilize structures such as exploited geological caves, naturally formed water-bearing rock formations, exploited or specially excavated salt solution caves, and underground caves artificially excavated in hard rocks. At present, most of the existing compressed air energy storage power stations at home and abroad utilize natural geological structures, but these geological structures are often hard to come by, which greatly restricts the site selection and large-scale construction of power station projects. For areas with construction needs but without special geological conditions such as salt rock, salt water layer, abandoned mine pits, etc., artificially excavating underground chambers in hard rocks as underground gas storage reservoirs has become an important way. Artificial underground chambers are generally tunnel-shaped, with a diameter of about ten to dozens of meters, and are located 100 meters or even deeper underground. As a sealed gas storage space, the sealing performance of underground chambers must be guaranteed. Once gas leakage occurs, the use efficiency of compressed air energy storage will be greatly reduced; because underground chambers work in a high-temperature and high-pressure environment and are located deep underground, it is very difficult to detect gas leakage; and the loss of shutting down once is very large; at present, compressed air energy storage underground chambers are still a relatively new field, and there is no supporting equipment or mature method to conduct non-stop inspection on the operation status of underground chambers to ensure the healthy operation of underground chambers. Therefore, it is very valuable and significant to design a set of equipment that can regularly detect defects and gas leakage in underground chambers without shutting down under high-temperature and high-pressure environments, and even perform repairs. Summary of the Invention

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

[0005] According to one aspect of the specification of the present invention, there is provided an intelligent inspection robot equipment for underground chamber detection, including 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 cooperation module and a motion control module, and the multi-detection cooperation module is used to cooperatively detect the gas leakage situation; the motion control module is used to control the detailed inspection robot to move to the defect position / nearby and control the multi-detection cooperation module to perform cooperative detection 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 cooperative detection, which can more carefully and accurately detect whether there is gas leakage at the defect. Through the multi-robot cooperation of the master-slave system composed of the general inspection robot and the detailed inspection robot, the underground chamber can be inspected, defect analyzed and evaluated without shutting down, greatly improving the detection efficiency and effectively guaranteeing the safe and healthy operation of the underground chamber.

[0007] As a further technical solution, the general inspection robot includes a general inspection camera, and the lens of the general inspection camera can rotate 360 degrees; the general inspection camera is used to quickly identify visually visible apparent 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 according to the software carried by the visible light camera and the infrared camera system, features can be extracted from the images including photos and temperature fields of the general inspection (rough measurement), and quick identification can be performed on visually visible apparent defects or relatively low-temperature areas of the temperature field.

[0008] As a further technical solution, the multi-detection cooperation module includes an optical close-range observation module, an air flow detection module, a contact vibration detection module, and a temperature field detection module. The optical close-range observation module is used to perform close-range observation and obtain defect images, and can also transmit the defect images back to the general detection robot / terminal. The air flow detection module is used to obtain the change in gas flow velocity in the defect area and determine whether there is gas leakage. The contact vibration detection module is used to collect and analyze the vibration signals of the defect part and determine whether there is gas leakage. The temperature field detection module is used to monitor and analyze the temperature signals of the defect part. When the air flow detection module cannot determine whether there is gas leakage in the defect area, the contact vibration detection module is used to detect and determine whether there is gas leakage. The temperature field detection module assists the contact vibration detection module to find the gas leakage position.

[0009] Specifically, the contact vibration detection module is used to determine whether there is gas leakage in the defect part when no obvious change in gas flow velocity is detected. The temperature field detection module is used to determine the position of the detection movement to assist the contact vibration detection module to find the gas leakage position when the vibration signal of a certain defect part is not obvious and the temperature field is abnormal.

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

[0011] By using the above-mentioned combination of multiple detection modules to qualitatively and quantitatively detect and mutually verify the defect position, the gas leakage situation in the underground chamber can be detected more accurately and quickly, providing guarantee for the healthy and efficient operation of the underground chamber.

[0012] As a further technical solution, the acquisition and analysis of the vibration signals can be the acquisition and analysis of vibration characteristics including vibration signal intensity, spectral characteristics, time characteristics, and spatial distribution of the vibration signals. The vibration signal intensity refers to the vibration amplitude. The spectral characteristics refer to the frequency characteristics of the vibration signal in the frequency spectrum. The time characteristics refer to the duration and stability of the vibration signal. The spatial distribution of the vibration signal is also the position information of the vibration signal.

[0013] As a further technical solution, the general detection robot includes a general detection robot platform. A power cable reel is provided on the general detection robot platform. The power cable reel includes a cable reel, a cable reel driving motor for driving the cable reel, and an umbilical cable sleeved on the cable reel. The free end of the umbilical cable is connected to the detailed detection robot. The general detection robot releases or retrieves the detailed detection robot through the power cable reel. When a detailed detection task needs to be executed, the general detection robot releases the detailed detection robot and controls it to move to a specified position. When the detailed detection robot completes the task, it is retrieved by the general detection robot.

[0014] As a further technical solution, the above intelligent inspection robot equipment further includes a power supply track. A load-bearing connecting piece and a support wheel system are provided above the general inspection robot platform. The support wheel system is connected to the general inspection robot through the load-bearing connecting piece, and the general inspection robot is slidably installed on the power supply track. A power supply small track is provided below the power supply track, and the general inspection robot is electrically connected to the power supply small track through a sliding contact piece. The power supply small 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 manner. 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 the temperature sensors are distributed in a cross-array form, and vibration signals and temperature signals can be obtained simultaneously during measurement.

[0016] As a further technical solution, a repair mechanism is further provided on the detailed inspection robot platform. The repair mechanism determines whether repair work needs to be performed according to the detection results.

[0017] As a further technical solution, an overall operation condition evaluation system for the underground chamber is carried on the general inspection robot. The overall operation condition evaluation system for the underground chamber is used to analyze and evaluate the entire underground chamber according to the data transmitted back by the detailed inspection robot, and issue an evaluation report.

[0018] Specifically, the detailed inspection robot transmits both the detected defect data and the data after repair to the overall operation condition evaluation system for the underground chamber. The overall operation condition evaluation system for the underground chamber analyzes and evaluates the overall data, and then issues a report on the operation condition of the entire underground chamber after this inspection.

[0019] On the other hand, the present invention provides an intelligent inspection method for underground chamber detection, including the steps:

[0020] Using the general inspection robot to identify defects, and when defects are identified, obtaining the size and location of the defects;

[0021] Controlling the detailed inspection robot to move to the defect position / nearby, and using the multi-detection cooperation module integrated on the detailed inspection robot to cooperatively detect the defect area to confirm whether there is gas leakage in the defect area.

[0022] As a further technical solution, lower the general inspection camera of the general inspection robot to the position on the central axis of the chamber, and the detailed inspection robot is in a suspended state; the general inspection robot moves in a step-by-step manner. Each time the general inspection robot takes a step forward, the general inspection camera rotates 360 degrees to conduct a 360-degree scan of the inner wall of the chamber, obtaining the video image of the inner surface of the chamber and the temperature field distribution data; identify defects in the video image and the temperature field distribution data to obtain the size and position of the defects; control the detailed inspection robot to move along the underground chamber to the specified defect position, and use the multi-detection cooperation module carried on the detailed inspection robot to detect the defects on 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 the cases where there are obvious apparent defects visually or there are relatively low-temperature areas that are not obvious visually.

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

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

[0026] Obtain the coordinate data of each scanned image of the general inspection robot according to the position coordinates of the general inspection robot, and generate a three-dimensional image model, which can be displayed on the terminal;

[0027] When there are defects in the identified image, associate the identified defective image with the image coordinate data to obtain the coordinate data of each defective image;

[0028] Divide the defective image into pixel grids, calculate the size and coordinate position of the defective part in the defective image, and then combine the coordinate data of the defective image to obtain the actual size of the defect and the actual position coordinates in the underground chamber.

[0029] As a further technical solution, the cooperative detection of the above multi-detection cooperation module includes the steps of:

[0030] Place the air flow detection module close to the defect area to detect the strength of the change in gas flow rate. If there is an obvious change in gas flow rate, it indicates that there is gas leakage;

[0031] When no obvious change in gas flow rate is detected and it cannot be confirmed whether there is gas leakage, place the contact vibration detection module and the temperature field detection module close to the defect to collect and analyze the vibration signal and the temperature signal simultaneously. Judge whether there is a gas leakage defect in the current test area according to the vibration signal. If an obvious vibration signal is detected, it is judged that there is gas leakage;

[0032] When no obvious vibration signal is detected and the temperature field detection module detects an abnormality in the temperature field, the detection position is moved to the low-temperature area to continue detecting the vibration signal;

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

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

[0035] As a further technical solution, the above intelligent inspection method further includes judging whether the defect needs to be repaired and whether it can be repaired according to the detection result. 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 approach detection work is repeated again to confirm the repair effect.

[0036] In some solutions, when the general inspection robot detects obvious apparent defects in the chamber and there is a relatively low-temperature area, if it can be repaired, the repair mechanism carried by the detailed inspection robot needs to be controlled to perform the repair work.

[0037] In some solutions, when the detailed inspection robot detects gas leakage, if it can be repaired, the repair mechanism carried by the detailed inspection robot needs to be controlled to perform the repair work.

[0038] As a further technical solution, the above intelligent inspection method further includes the steps: The general inspection robot analyzes and evaluates the entire underground chamber according to the defect data and / or the data after repair transmitted back by the detailed inspection robot, and issues an evaluation report on the overall operation of the underground chamber after this inspection.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0040] 1. The present invention first creates a method of multi-robot cooperation of a mother-child system composed of a general inspection robot and a detailed inspection robot to perform inspections, defect analysis and evaluation on an underground chamber, which can effectively ensure the safe and healthy operation of the underground chamber.

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

[0042] 3. The present invention can be used for an underground chamber of compressed air energy storage, which can enable the underground chamber of compressed air energy storage to be inspected without stopping the machine, avoiding economic losses caused by shutdown inspection.

[0043] 4. The gas leakage detection of the present invention combines multiple detection methods and verifies each other, which can more accurately detect the gas leakage situation in the underground chamber and provide guarantee for the healthy and efficient operation of the underground chamber.

[0044] 5. The present invention for the underground chamber of compressed air energy storage can improve the utilization efficiency of the underground chamber of compressed air energy storage and avoid the gas release and secondary inflation of the underground chamber caused by regular inspection (the cost of secondary inflation is high and it is time-consuming).

[0045] 6. The present invention can not only detect the chamber defects, but also the detailed inspection robot can carry repair equipment to repair the defects and evaluate the repair effect, greatly improving the operation efficiency.

[0046] 7. After the equipment of the present invention completes the inspection task, it can issue an accurate health report on the overall operation situation of the underground chamber.

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

[0048] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0049] Figure 1 System block diagram of the intelligent inspection robot for the underground chamber;

[0050] Figure 2 Effect diagram of the intelligent inspection robot for the underground chamber;

[0051] Figure 3 Power supply rail module;

[0052] Figure 4 General inspection robot;

[0053] Figure 5 Mother-child system composed of the general inspection robot and the detailed inspection robot;

[0054] Figure 6 Detailed inspection robot;

[0055] Figure 7 Acquisition of defect coordinate data of the general inspection robot;

[0056] Figure 8 Scanning working mode of the general inspection camera;

[0057] Figure 9 Proximity detection work steps;

[0058] Figure 10 It is the inspection work flow chart of the intelligent inspection robot;

[0059] In the figure, 1. General inspection robot platform; 2. General inspection camera; 3. Power supply track; 4. Cable of the rope drive mechanism; 5. Small power supply track; 6. Sliding contact piece; 7. Load-bearing connecting piece; 8. Support wheel frame; 9. Support wheel system; 10. Reel drive motor; 11. Reel; 12. Umbilical cable; 13. Detailed inspection robot; 14. Telescopic rod. Specific implementation manners

[0060] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described content is a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In addition, the technical features in each of the embodiments provided by the present invention or a single embodiment can be arbitrarily combined with each other to form a new technical solution. Such combination is not restricted by the sequence of steps and / or the structure composition mode, but must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0061] An intelligent inspection robot equipment and detection method for underground chambers of the present invention adopt a combination of rapid detection by the general inspection robot camera and proximity detection by the detailed inspection robot 13 for inspection work; the general inspection robot and the detailed inspection robot 13 can adopt productized 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 collaboration module and a motion control module. The multi-detection collaboration module is used for collaborative detection of gas leakage conditions; 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 collaboration module to perform collaborative detection work in the defect area to confirm whether there is gas leakage in the defect area.

[0062] In some examples of the present invention, the structural block diagram of the intelligent inspection robot system is as Figure 1 shown, and the overall structure is as Figure 2As shown in the figure. The general inspection robot includes a general inspection robot motion control system, a general inspection robot detection system, and an overall operation condition evaluation system for the underground chamber; the general inspection robot motion control system is used for reciprocating motion for rough inspection and scanning, controlling its own motion according to the rough inspection results, and planning the motion trajectory of the detailed inspection robot; the general inspection robot detection system includes an optical and infrared detection and defect identification, 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 overall operation condition evaluation system for the underground chamber is used to evaluate the overall operation condition 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 multi-detection cooperation module to cooperate to perform the detection work, and perform multi-sensor signal analysis, processing and evaluation. The local defect repair and evaluation system is used to control the robotic arm to perform the repair work, re-detect and evaluate after the local defect is repaired, and transmit the detected defect data and / or repair data back to the general inspection robot.

[0063] In some examples, the intelligent inspection robot for the underground chamber further includes a power supply track module in terms of structure. Part of the power supply track 3 can be a customized structure and can be customized and laid according to the structure of the underground chamber. The following provides a specific power supply track module:

[0064] As Figure 3 shown in the figure, the power supply track 3 is the motion track of the general inspection robot and plays a supporting role for the general inspection robot. In addition, three sliding contact power supply small tracks 5 are designed under the power supply track 3. Copper sheets are installed on both sides of the power supply small track 5 and are respectively connected to the positive and negative poles of the power supply; a graphite alloy sliding contact piece 6 that keeps sliding contact with the power supply small track 5 is designed on the general inspection robot. The power supply small track 5 not only supplies power to the general inspection robot and the detailed inspection robot 13, but also connects the general inspection robot with the control terminal through a power line carrier to realize signal transmission.

[0065] After the underground chamber is completed, an accurate three-dimensional survey of the underground chamber needs to be carried out to obtain the three-dimensional space data of the underground chamber. 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 space data of the underground chamber.

[0066] In some examples, such as Figure 4As shown in the figure, 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 car, and a general inspection camera 2. The rope drive mechanism is a power system installed on the track, including a drive motor and a cable of the rope drive mechanism 4. 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, it firmly and slidably fixes the general inspection robot on the power supply track 3. At the same time, it is also the motion execution mechanism of the general inspection robot. The forward and reverse rotation of the drive motor can drive the general inspection robot to move back and forth 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 power supply small track 5 and a sliding contact piece 6, mainly providing 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 a power cable reel car and a general inspection camera 2. The general inspection robot is connected to the detailed inspection robot 13 through the power cable reel car. The power cable reel car is equipped with a high-power cable reel drive motor 10, which can easily lift the body of the detailed inspection robot 13. At the same time, it will also adjust the length of the umbilical cable 12 released in real time according to the moving distance of the detailed inspection robot 13, so that the umbilical cable will not be overly redundant. As Figure 5 shown in the figure, the general inspection robot and the detailed inspection robot 13 form a mother-child system. The detailed inspection robot 13 is a subsystem of the general inspection robot. When a detailed inspection task needs to be executed, it is released by the general inspection robot and controlled to move to a specified position. When the detailed inspection robot 13 completes the task, it is recovered by the general inspection robot. The power cable reel car includes a cable reel 11, a cable reel drive motor 10 for driving the cable reel 11, and an umbilical cable 12 sleeved on the cable reel 11. The free end of the umbilical cable 12 is connected to the detailed inspection robot 13. The general inspection robot releases or recovers the detailed inspection robot 13 through the umbilical cable 12 on the power cable reel car.

[0068] The general inspection camera 2 is the key core component of the general inspection robot module. The general inspection 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 general inspection camera 2 can rotate 360 degrees. An angle sensor is installed on the rotating lens to record the real-time angle of the camera lens. The general inspection camera 2 can be connected to the general inspection 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 on the general inspection robot can respectively extract the apparent defect and temperature field characteristics from the visible light image and the infrared image obtained by the general inspection robot detection. Situations with obvious apparent defects visually observed or relatively low-temperature areas that are not obvious visually are marked as defects. There are mainly 4 situations for the general inspection robot detection:

[0070]

[0071] Combined with the three-dimensional coordinate data of the underground chamber obtained by surveying and mapping, obtain the coordinate data of all the images of the underground chamber scanned by the general survey robot, and paste the series of annular area images of the inner wall of the chamber captured (scanned) onto the three-dimensional model of the chamber to form a complete three-dimensional image model of the underground chamber. For convenient viewing of defects, the three-dimensional image model can also be unfolded to a plane for viewing.

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

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

[0074] Obtain the coordinate data of each image scanned by the general survey robot according to the position coordinates of the general survey robot, and generate a three-dimensional image model that can be displayed on the terminal;

[0075] When a defect is identified in the image, associate the identified defective image with the image coordinate data to obtain the coordinate data of each defective image;

[0076] Divide the defective image into pixel grids, calculate the size and coordinate position of the defective part in the defective image, and then combine the coordinate data of the defective image to obtain the actual size of the defect and the actual position coordinates in the underground chamber.

[0077] A more specific process is as follows:

[0078] First, after the completion of the underground chamber, it is necessary to accurately survey and map the underground chamber to obtain the three-dimensional space data of the underground chamber. Then, when installing the power supply track 3, set the starting point position on the power supply track 3 to coincide with the starting point of the three-dimensional space data of the underground chamber.

[0079] Then, the general inspection robot resets and moves to the starting point of the track, and lowers the general inspection camera 2 to the position on 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 step-by-step manner, and the step distance is the width of the best view angle of the inner wall of the chamber captured by the general inspection camera 2. Each time the general inspection robot takes a step forward and then stops, the general inspection camera 2 rotates 360 degrees to conduct a 360-degree scan of the inner wall of the chamber, and at the same time stores the scanned images, thus obtaining a cylindrical video image of the inner surface of the chamber. Then, through the visual defect recognition software module built in the system, the stored video is subjected to defect recognition. Then the general inspection robot takes another step forward, repeats the above inspection actions, saves the images, and identifies the defects; and so on in a cycle until the entire inner wall surface of the chamber is scanned once, and at the same time the defects therein 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 on the central axis of the chamber (according to the three-dimensional surveying and mapping data, the distance from the wall surface to the camera, that is, the actual radius of the chamber) can be known. Therefore, when the defective part is within the viewing range of the general inspection camera 2, the general inspection robot can associate the identified defective image with the coordinate data, and thus obtain the coordinate data of each defective image; then according to the viewing range of the general inspection camera 2, and then through the software, the captured defective image is divided into pixel grids, the size of the defective part is accurately circled, and at the same time 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 time, the general inspection robot has obtained the general information of the defective part. For the compressed air energy storage underground chamber, the existence of defects may lead to air leakage. Once air leakage occurs, the efficiency of compressed air energy storage will be reduced. One of the most important detection tasks of the intelligent inspection robot for underground chambers is to detect whether the underground chamber leaks air. Although the general inspection robot has obtained the image information of the defects, it cannot determine whether the defective part leaks air. Therefore, it is also necessary for the detailed inspection robot 13 to move to the vicinity of the defective part to further accurately detect to confirm whether the defective part leaks air. At this time, it is necessary for the general inspection robot to control the detailed inspection robot 13 to go to the defective position for close detection.

[0082] The function of the detailed inspection robot 13 is to move along the underground chamber to the position specified by the general inspection robot, and use the sensor module carried by itself to detect the defects on the inner wall of the chamber, and evaluate whether the defects will cause air leakage in the underground chamber, whether repair is needed, and whether it can be repaired. Then, according to the instructions of the general inspection robot, use the repair mechanism carried to perform repair work on the defective part. Such as Figure 6As shown in the figure, the detailed inspection robot 13 can be regarded as a detection and repair platform for wall-climbing robots (such as negative pressure wall-climbing robots or electromagnetic adsorption wall-climbing robots). 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 close-range observation module, an air flow detection module, a contact vibration detection module, and a temperature field detection module. Among them, in addition to closely observing the defect situation, the optical close-range observation module can also transmit the real-time detection image back to the general inspection robot / terminal for display. The vibration detection module and the temperature field detection module are integrated together. The air flow detection module is an air flow sensor used to measure and monitor air flow parameters. It can obtain real-time information such as the speed, direction, and turbulence degree of the air flow, and further provide a criterion for whether there is air leakage in the inner wall of the chamber. The contact vibration detection module directly presses the vibration sensor probe tightly against the defect part or the nearby part to detect the vibration signal of the defect part (gas leakage is necessarily accompanied by vibration). According to the strength of the vibration signal, it can be judged whether there is gas leakage at the defect. The temperature field detection module uses a temperature sensor to detect the temperature field distribution of the defect part, and the distribution of the temperature field can also provide a basis for judging whether there is gas leakage. The vibration sensor and the temperature sensor are arranged in a cross array to jointly form an array type vibration and temperature sensor module. During measurement, vibration signals and temperature signals can be obtained simultaneously. By implementing the detection method combining the above four detection methods through the detailed inspection robot 13, it is possible to accurately detect whether there is gas leakage at the defect of the inner wall of the underground chamber, so as to obtain accurate detection results.

[0084] In some examples, when the air flow detection module cannot judge whether there is gas leakage in the defect area, the contact vibration detection module is used to detect and judge whether there is gas leakage; the temperature field detection module assists the contact vibration detection module to find the gas leakage position. Specifically, the contact vibration detection module is used to judge whether there is gas leakage at the defect part when no obvious change in gas flow rate is detected; the temperature field detection module is used to determine the moving position of the array type vibration and temperature sensor module to assist the contact vibration detection module to find the gas leakage position when the vibration signal at a certain defect part is not obvious and the temperature field is abnormal.

[0085] It should be noted that an obvious change in gas flow rate means that the change in gas flow rate 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 determination methods of the detailed inspection robot are as follows:

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

[0088] When the gas flow sensor cannot confirm whether there is a gas leak, the detailed detection robot 13 will place the integrated array vibration and temperature sensor module close to the defective part. When there is a gas leak, the gas is released through the leak point, generating abnormal vibrations at and around the leak point. By collecting and analyzing the vibration signals, relevant features in the vibration signals can be extracted and identified, so as to analyze and determine whether there is a gas leak defect in the current test area.

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

[0090] 1. Signal intensity (vibration amplitude)

[0091] When there is a gas leak, the high-pressure gas jets 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 defective part is significantly one order of magnitude larger than the background vibration, it can be judged that there is a gas leak at the defective part.

[0092] 2. Spectrum characteristics

[0093] The vibration signals generated by the leak usually have specific frequency characteristics in the spectrum, such as high-frequency components. Different types of leaks will produce different spectrum characteristics, which will have obvious differences from the frequencies of the background noise. Extract the main components in the spectrum characteristics and match them with the characteristic library of the leak signal to determine whether they conform to the leak characteristics. The frequency of the background noise is generally relatively stable, mostly showing a low-frequency distribution, and the main frequency of the vibration signal at the leak point can reach about 3k - 10kHz.

[0094] 3. Time characteristics

[0095] Vibration signals generated by gas leakage usually have a certain duration and stability, while environmental interference signals are often short-lived and random. By monitoring the duration of the vibration signal, if the vibration signal has a long duration and is stable, it may be a leakage signal.

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

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

[0098] By integrating the above various evaluation criteria, the accuracy and reliability of gas leakage detection can be effectively improved, ensuring the timely discovery and handling of gas leakage problems.

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

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

[0101] 1. Temperature anomaly

[0102] The temperature changes caused by gas leakage are usually significantly different from the ambient temperature. Compare the monitored temperature value with the ambient temperature. If it exceeds the set temperature difference threshold, it is determined that gas leakage may exist.

[0103] 2. Temperature gradient

[0104] Generally, the leaked gas will form an obvious temperature gradient around the leakage point. Calculate the temperature gradient in the monitored area based on the temperature values detected by temperature sensors. If the detected temperature gradient exceeds the set threshold, indicating the presence of a temperature gradient, then leakage may exist.

[0105] In some examples of the present invention, if the difference between the temperature value of the current defect location and the ambient temperature exceeds the 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 an auxiliary means for detecting gas leakage. When the vibration and temperature detection integrated module is detecting, if the vibration data can directly determine that there is gas leakage at the defect, a conclusion can be directly drawn to determine that there is leakage here, and there is no need to refer 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 mobile array type vibration and temperature sensor module is moved to continue detecting the vibration signal until an obvious vibration signal is detected, and then it is determined that there is gas leakage. If no obvious vibration signal is detected within a certain range of the defect test area, that is, at the defect, it is determined that there is no gas leakage.

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

[0108] S1. When the airflow detection module (airflow sensor) detects an obvious change in gas flow rate, it is determined that there is gas leakage at the defect; if no obvious change in gas flow rate is detected (no vibration signal is detected or the detected vibration signal is not obvious) and it cannot be confirmed whether there is gas leakage, the 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 gas leakage at the defect;

[0110] S3. When the contact vibration detection module does not detect an obvious vibration signal, and the temperature field detection module (temperature sensor) detects a temperature gradient at the defect site, the detection position is moved towards 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 gas leakage; if no obvious vibration signal is still detected at the lowest temperature point, it is determined that there is no gas leakage.

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

[0113] S1. When the airflow detection module (airflow sensor) detects an obvious change in gas flow rate, it is determined that there is gas leakage at the defect; if no obvious change in gas flow rate is detected (no vibration signal is detected or the detected vibration signal is not obvious) and it cannot be confirmed whether there is gas leakage, the 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 gas leakage at the defect;

[0115] S3. When the contact vibration detection module fails to detect an obvious vibration signal while the temperature field detection module (temperature sensor) detects a temperature gradient at the defective part, move the detection position towards the low-temperature area and return to step S2 to continue detecting the vibration signal;

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

[0117] Finally, judge whether the defect needs to be repaired and whether it can be repaired according to the detection results. If it is confirmed that the defect needs to be repaired, control the repair mechanism carried by the detailed detection wall-climbing robot to repair the defective part. After the repair is completed, repeat the above approach of approaching detection again to confirm the repair effect.

[0118] In a specific embodiment of the present invention, the inspection method is as Figure 10 shown. The 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 defects and obtain the defect coordinate data; according to the identified defect coordinate data and combined with the path planning algorithm, control the detailed detection robot (wall-climbing robot) 13 to move to the location of the defect; use the multi-detection collaborative module (multi-detection module) to obtain more detailed data of the defect; the defect evaluation and repair system is used to evaluate whether the defect data can be repaired and evaluate whether the repair is qualified. According to the detailed defect data, confirm whether it can be repaired. If it cannot be repaired, record the defect; if it can be repaired, then control the detailed detection robot to repair the defect; if the repair is qualified, the repair is completed. If the repair is unqualified, continue to repair the defect.

[0119] During the whole testing process or repair process, an overall operation condition evaluation system of the underground chamber is carried on the general inspection robot, which can analyze and evaluate the whole underground chamber according to the defect data and / or the data after repair transmitted back by the detailed detection robot, and issue an operation condition report of the whole underground chamber after this inspection.

[0120] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments 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 cooperation module and a motion control module, the multi-detection cooperation module is used to cooperate in detecting gas leakage; the motion control module is used to control the detailed inspection robot to move near the defect position and control the multi-detection cooperation module to perform cooperative detection work in the defect area; the multi-detection cooperation module includes an air flow detection module, a contact vibration detection module and a temperature field detection module, the air flow detection module is used to obtain the change in gas flow velocity in the defect area and judge the existence of gas leakage when an obvious change in gas flow velocity is detected; the contact vibration detection module is used to detect the vibration signal at the defect when the air flow detection module does not detect an obvious change in gas flow velocity, and judge the existence of gas leakage at the defect part when an obvious vibration signal is detected; the temperature field detection module is used to determine the position of the detection movement to assist the contact vibration detection module to find the position of gas leakage when the vibration signal at a certain defect part is not obvious and the temperature field is abnormal.

2. The intelligent inspection robot equipment for underground chamber detection according to claim 1, characterized in that the general inspection robot includes a general inspection camera, and the lens of the general inspection camera can rotate 360 degrees; the general inspection camera integrates a visible light camera and an infrared camera, and is used for quickly identifying visual apparent 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, characterized in that the multi-detection cooperation module further includes an optical close-range observation module, and the optical close-range observation module is used for close-range observation and obtaining defect images.

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

5. The intelligent inspection robot equipment for underground chamber detection according to claim 1, 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 it includes the steps of: using a general inspection robot to identify defects, and when defects are identified, obtaining the size and position of the defects; controlling the detailed inspection robot to move to / near the defect position, and using the multi-detection cooperation module integrated on the detailed inspection robot to perform cooperative detection on the defect area to confirm whether there is gas leakage in the defect area; The cooperative detection of the multi-detection cooperation module includes the steps of: Place the air flow detection module close to the defect area to detect the strength of the gas flow rate change. If there is an obvious gas flow rate change, it is determined that there is a gas leak. When no obvious gas flow rate change is detected, place the contact vibration detection module and the temperature field detection module close to the defect to collect and analyze the vibration signal and the temperature signal simultaneously. Determine whether there is a gas leak defect in the current test area based on the vibration signal. If an obvious vibration signal is detected, it is determined that there is a gas leak. When no obvious vibration signal is detected and the temperature field detection module detects an abnormal temperature field, move the detection position to the low temperature area and continue to detect the vibration signal. If no obvious vibration signal is detected at the lowest temperature point of the found test area, it is determined that there is no gas leak.

7. An intelligent inspection method for underground chamber detection according to claim 6, characterized in that The acquisition of the size and position of the defect includes the steps of Obtain the three-dimensional space data of the underground chamber and determine the position coordinates of the general inspection robot. Obtain the coordinate data of each picture scanned by the general inspection robot according to the position coordinates of the general inspection robot. When a defect is identified in the picture, associate the identified defect picture with the picture coordinate data to obtain the coordinate data of each defect picture. Divide the defect picture into pixel grids, calculate the size and coordinate position of the defect part in the defect picture, and then combine the coordinate data of the defect picture to obtain the actual size of the defect and the actual position coordinates in the underground chamber.

8. An intelligent inspection method for underground chamber detection according to claim 6, characterized in that The vibration signal includes vibration signal intensity, spectral characteristics, time characteristics, and spatial distribution of the vibration signal.

9. An 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 according to the detection result. If it is confirmed that the defect needs to be repaired, control the detailed inspection robot to repair the defect part. After the repair is completed, repeat the close-range collaborative detection work again to confirm the repair effect.

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