Method for installing and constructing inclined shaft steel pipe of pumped storage power station

Abstract

The invention discloses a pumped storage power station inclined shaft steel pipe installation construction method, and relates to the technical field of pumped storage power station construction.The method comprises the specific steps that an initial digital twinborn model of a pumped storage power station inclined shaft and a steel pipe is constructed according to the geometric structure and geological conditions of the inclined shaft and the material and size information of the steel pipe; the digital twinborn model comprises an inclined shaft geometric model and a steel pipe geometric model, through application of the digital twinborn model in the whole construction process, the position, the speed and the bearing state of the transportation trolley and the stress condition of the steel pipe are monitored in real time from steel pipe transportation, the collision and sliding risks in the transportation process are effectively avoided, and the construction efficiency is improved. And in the welding process, according to the welding parameters collected in real time and the information of the steel pipe material and the wall thickness, the model can optimize the welding parameters in time, the welding seam quality is guaranteed, and the welding seam quality detection result is fed back to the model in real time.

Description

Technical Field

[0001] The invention relates to the technical field of pumped storage power station construction, in particular to a method for installing and constructing inclined shaft steel pipes in a pumped storage power station. Background Art

[0002] As an important part of the power system, pumped-storage power stations undertake multiple functions such as peak-shaving, emergency standby and energy storage. Inclined shaft steel pipe installation is a key link in the construction of pumped-storage power stations. Its construction quality and efficiency directly affect the overall performance and operational safety of the power station. The traditional inclined shaft steel pipe installation construction method can no longer meet the needs of modern pumped-storage power station construction. Therefore, developing an efficient, accurate and safe inclined shaft steel pipe installation construction method is of great significance to improving the construction quality and efficiency of pumped-storage power stations.

[0003] However, the traditional installation and construction method of steel pipes in the inclined shaft of pumped-storage power stations mainly relies on manual experience. During the transportation of steel pipes, there is a lack of accurate real-time monitoring of the driving status of the transport vehicle and the stress conditions of the steel pipes, which can easily lead to damage to the steel pipes due to accidents such as collisions and slips. Moreover, the parameter control during the welding process is not precise enough. It is usually set based on experience and cannot be optimized and adjusted according to real-time changes in the steel pipe material, wall thickness and on-site environment. For weld quality inspection, it is often a post-inspection, and problems cannot be discovered and warned in time.

[0004] In summary, the traditional construction method for the installation of inclined shaft steel pipes in pumped-storage power stations is difficult to meet the requirements of modern engineering for construction accuracy, quality control, and safety assurance. Therefore, a construction method that combines a physical system with a virtual model is needed to solve these problems and improve the overall level of installation of inclined shaft steel pipes in pumped-storage power stations. Summary of the invention

[0005] The purpose of the present invention is to make up for the shortcomings of the prior art and provide a method for installing and constructing inclined shaft steel pipes in a pumped-storage power station. It can achieve high-precision control of the entire process of inclined shaft steel pipe installation by constructing a digital twin model, ensuring that each link meets the design requirements, predicting potential risks, and optimizing construction plans, thereby significantly improving construction accuracy and efficiency.

[0006] In order to solve the above technical problems, the present invention provides the following technical solution: a method for installing and constructing steel pipes in an inclined shaft of a pumped storage power station, wherein the specific steps of the method are as follows:

[0007] S1. Construct an initial digital twin model of the inclined shaft and steel pipe of the pumped storage power station according to the geometric structure, geological conditions, material and size information of the inclined shaft, wherein the digital twin model includes an inclined shaft geometric model and a steel pipe geometric model;

[0008] A sensor network including displacement sensors, stress sensors, and temperature sensors is synchronously set up in the inclined well and the model to collect entity data;

[0009] Set up working platforms at the wellhead and well bottom, enter the structural parameters and positioning information of the platforms into the digital twin model, clean and inspect the inside of the inclined well, and feed the inspection results back to the digital twin model;

[0010] S2. Use a transport trolley with sensors to transport steel pipes. The position, speed, and load status information of the transport trolley are transmitted to the digital twin model in real time through sensors. The digital twin model is used to simulate the stress conditions, collision, and sliding risks of the steel pipes during transportation.

[0011] When lifting steel pipes at the wellhead, the lifting parameters of the lifting equipment are fed back to the digital twin model in real time. The model calculates the best path for lowering the steel pipe based on these data and the parameters of the inclined well, and cooperates with the guide pulley installed on site to ensure that the steel pipe descends along the center line of the inclined well. At the same time, the digital twin model monitors the distance between the steel pipe and the well wall in real time to prevent collision. The end point of the transport trolley and the starting point of the lifting are connected in process and space, forming a coherent steel pipe transfer link.

[0012] S3. Install sensors on the centering device of the bottom platform, transmit the adjustment data of the centering device to the digital twin model in real time, and provide adjustment strategies for the centering device based on the steel pipe position and posture data recorded in the transportation and lifting links and the data of the current lowered steel pipe for comprehensive analysis to achieve preliminary centering.

[0013] The docking port of the steel pipe is measured using laser measurement technology, and the measurement data is synchronized to the digital twin model. The model determines the adjustment amount of the fine-tuning lifting equipment and the fine-tuning jack through data analysis and simulation to achieve the control of docking accuracy. After the docking is completed, the digital twin model records the docking status and associates it with the installation status of the welding equipment;

[0014] S4. After the steel pipes are butt-jointed, they are welded. Parameter acquisition sensors are installed on the welding equipment to transmit the welding current, voltage, and welding speed parameters to the digital twin model in real time. The model analyzes the welding parameters in real time and provides optimization suggestions based on the steel pipe material and wall thickness information.

[0015] For weld quality inspection, the test results of non-destructive testing equipment are fed back to the digital twin model. The model establishes a weld quality database based on the test data, evaluates and predicts the weld quality, and promptly warns of unqualified welds.

[0016] S5. After the steel pipe is welded, concrete is used to fill the gap between the steel pipe and the inclined shaft wall. The parameters of the concrete pouring equipment and the performance parameters of the concrete are passed into the digital twin model. The model simulates the concrete filling process, predicts and guides the layered pouring and vibration operations.

[0017] Furthermore, the construction process of the S1 inclined well geometric model is as follows: according to the inclined well design drawings, the geometric parameters of the inclined well are obtained, including the length L, diameter D, and inclination angle α of the inclined well, and the inclined well is discretized into m micro-segments based on the center line of the inclined well, and Where Δl is the length of the micro-segment. For each micro-segment, its coordinates in three-dimensional space are calculated. The coordinates of the wellhead are defined as (x0, y0, z0). Then the coordinates of the midpoint of the i-th micro-segment (x i ,y i ,z i ),Right now Where β is the azimuth of the inclined well on the horizontal plane. By connecting the midpoint coordinates of the micro-segments, the three-dimensional geometric model of the inclined well is constructed.

[0018] Furthermore, the S1 steel pipe geometric model construction process is: according to the steel pipe design specifications, the outer diameter d of the steel pipe is obtained. outer , inner diameter d inner Length L pipe , taking the center line of the steel pipe as the reference, discretize the steel pipe into n micro-units, and Where Δl pipe is the length of the steel pipe micro-unit. For each micro-unit, its coordinates in three-dimensional space are calculated. The coordinates of one end of the steel pipe are defined as (x p0 ,y p0 ,z p0 ), then the midpoint coordinates of the jth microunit (x pj ,y pj ,z pj ),Right now γ is the placement angle of the steel pipe on the horizontal plane. By connecting the midpoint coordinates of the micro-units, a three-dimensional geometric model of the steel pipe is constructed, and it is combined with the inclined shaft geometric model to form the initial digital twin model of the inclined shaft and steel pipe of the pumped-storage power station.

[0019] Furthermore, the S2 uses a digital twin model to simulate the stress of the steel pipe during transportation. According to the principle of mechanics, the force calculation method is F=ma+Gsinα+f, where F is the resultant force on the steel pipe, m is the mass of the steel pipe, a is the acceleration of the transport trolley, G is the weight of the steel pipe, α is the inclination angle of the inclined shaft, f is the friction force, and the friction force f=μN, μ is the friction coefficient, N is the positive pressure between the steel pipe, the transport trolley and the inclined shaft wall, and N=Gcosα. When F>F safe When the risk of collision and slipping is determined, F safe is the safety threshold and F safe =min{F test1 ,F test2 ,…,F testn}×k s , where {F test1 ,F test2 ,…,F testn In order to conduct simulation tests through the digital twin model, different transport speed v ranges and acceleration a values ​​are set, and n simulation tests are conducted on the steel pipe transportation process. For each test, the resultant force value F when obvious collision and sliding signs appear is measured and recorded. test , k s It is the safety factor, and its value is 0.8-1, which is the safety margin reserved during construction to cope with complex and changeable working conditions.

[0020] Furthermore, when S2 is lifting the steel pipe at the wellhead, according to the lifting force F lift , lifting angle θ, steel pipe weight G pipe , then the horizontal force F x =F lift sinθ, vertical force component F y =F lift cosθ, the lifting parameters of the lifting equipment and the optimal path for lowering the steel pipe should satisfy: x The horizontal friction force of the inclined shaft wall on the steel pipe is balanced, that is, F x =μ1G pipe cosα, where μ1 is the friction coefficient between the steel pipe and the guide pulley, and F y The vertical component of the steel pipe gravity and friction force, F y ≥G pipe sinα+μ2G pipe cosα, μ2 is the friction coefficient between the steel pipe and the lifting equipment.

[0021] Furthermore, after the S3 uses laser measurement technology to measure the butt joint port of the steel pipe, the adjustment amount of the fine-tuning lifting equipment and the fine-tuning dry jack is determined by the model, that is, the deviations of the port measured by the laser in the x, y, and z directions are Δx laser、 Δylaser、 Δz laser , the adjustment sensitivity of the fine-tuning lifting equipment in the horizontal and vertical directions are S x1 , S y1 The adjustment sensitivity of the fine-tuning jack in the horizontal and vertical directions is S x2 , S y2 , then the adjustment amount of the lifting equipment in the x direction The amount of adjustment in the y direction Adjustment of the jack in the x direction The amount of adjustment in the y direction

[0022] Furthermore, the S5 model starts the concrete pouring equipment when predicting and guiding the layered pouring, and its pouring speed v pour The initial value is Where V1 is the volume of the first layer of concrete poured, t1 is the estimated pouring time of the first layer, and r is the radius of the inclined shaft, r pipe is the radius of the steel pipe, h1 is the first layer pouring height, and at the same time, the pressure P of the concrete pouring equipment is monitored. When the pressure value reaches the first layer pressure threshold P1, P1 = ρ concrete gh1,ρ concrete is the density of concrete, g is the acceleration due to gravity, pause pouring and check the filling condition of concrete.

[0023] Furthermore, when the S5 model predicts and guides the layered pouring, for the pouring of the i-th layer (i≥2), the pouring speed v pour-i v pour-i =v pour(i-1) ×k v , k v is the pouring speed adjustment factor, where the pouring height of each layer is Where P i is the pouring pressure threshold of the i-th layer, which is ΔP higher than the pressure threshold of the previous layer. During the pouring process, the filling status of the concrete is continuously monitored.

[0024] Compared with the prior art, the pumped storage power station inclined shaft steel pipe installation construction method has the following beneficial effects:

[0025] 1. The present invention applies the digital twin model to the entire construction process. Starting from the transportation of steel pipes, the position, speed and load-bearing status of the transport trolley and the stress condition of the steel pipes are monitored in real time, effectively avoiding the risks of collision and slipping during transportation, and ensuring that the initial state of the steel pipes is good. During the welding process, according to the real-time collected welding parameters and information on the material and wall thickness of the steel pipes, the model can timely optimize the welding parameters to ensure the quality of the welds. The weld quality inspection results are fed back to the model in real time, which can promptly detect unqualified welds and guide repairs, reducing repairs and replacements due to quality problems, extending the service life of the power station, and improving the overall operating efficiency.

[0026] 2. The present invention utilizes the real-time monitoring and risk prediction functions of the construction process of the digital twin model, so that construction personnel can know the potential dangers in advance. During the transportation and lifting of steel pipes, once the model predicts abnormal stress and the risk of being too close to the well wall, it will immediately issue an alarm and provide adjustment suggestions to avoid accidents. In the welding process, real-time monitoring and optimization of welding parameters can prevent safety hazards caused by overheating of welding, improper parameters, etc. The model can perform safety assessment and guidance for various complex working conditions in the entire construction process, ensuring the safety and stability of the pumped-storage power station in long-term operation and protecting the safety of personnel and equipment.

[0027] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0029] Figure 1 This is the operation flow chart of the installation construction method of the inclined shaft steel pipe of the pumped storage power station;

[0030] Figure 2 The present invention is a flowchart of the steps of the first embodiment of the method for installing steel pipes in the inclined shaft of a pumped storage power station. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Embodiment 1

[0033] This embodiment describes in detail the construction method based on digital twin technology used in the installation and construction of steel pipes in the inclined shaft of a pumped-storage power station. By carefully constructing a digital twin model, the model simulation and actual operation are closely combined in each construction link to achieve precise control of the entire process of steel pipe transportation, docking, welding, reinforcement and protection. This method effectively improves the construction accuracy and safety, and provides an efficient and reliable solution for the installation of steel pipes in the inclined shaft of a pumped-storage power station.

[0034] First, in the specific implementation, according to the inclined well design drawings, the key geometric parameters of the inclined well are accurately obtained, including the length L, diameter D and inclination angle α of the inclined well. The inclined well is discretized into m micro-segments based on the center line of the inclined well. The calculation formula is: Where Δl is the length of the micro-segment. According to the requirements of the model accuracy of this project, the value range of Δl is set to [a, b] (a and b are the specific values ​​of the actual accuracy requirements). For each micro-segment, its coordinates in three-dimensional space are calculated. That is, the coordinates of the wellhead of the inclined well are (x0, y0, z0), then the coordinates of the midpoint of the i-th micro-segment (x i ,y i ,z i ) is: x i =x0+i×Δl×sinα×cosβ,y i =y0+i×Δl×sinα×sinβ,z i =z0+i×Δl×cosα|, where β is the azimuth of the inclined well on the horizontal plane. By connecting the midpoint coordinates of these micro-segments, the three-dimensional geometric model of the inclined well is gradually constructed to ensure that the model accurately reflects the actual shape and spatial position of the inclined well. According to the design specifications of the steel pipe, the outer diameter d of the steel pipe is determined. outer , inner diameter d inner Length L pipe Parameters such as the center line of the steel pipe are used as the reference, and the steel pipe is discretized into n micro-units. The calculation formula is: Where Δl pipe is the length of the steel pipe micro-unit. According to the engineering requirements and accuracy requirements, its value range is determined to be [c, d]. For each micro-unit, its coordinates in three-dimensional space are calculated to make it consistent with the coordinate system of the inclined shaft model, that is, the coordinates of one end of the steel pipe are (x p0 ,y p0 ,zp0 ), then the midpoint coordinates of the jth microunit (x pj ,y pj ,z pj ) can be calculated by the following formula: pj =x p0 +j×Δl pipe ×cosγ,y pj =y p0 +j×Δl pipe ×sinγ,z pj =z p0 , where γ is the placement angle of the steel pipe on the horizontal plane. By connecting the midpoint coordinates of these micro-units, a three-dimensional geometric model of the steel pipe is constructed, and it is accurately combined with the inclined shaft geometric model according to the designed position to form the initial digital twin model of the inclined shaft and steel pipe of the pumped-storage power station, laying the foundation for subsequent construction simulation and control.

[0035] Then, for the inclined shaft wall, the geological material information is obtained according to the detailed geological survey report to determine its elastic modulus E s h aft , Poisson's ratio ν s h aft , density ρ s h aft The key material mechanical parameters such as the material properties are accurately assigned to the corresponding parts of the inclined shaft geometric model. For steel pipes, the elastic modulus E is determined according to its material properties. pipe , Poisson's ratio ν pipe , density ρ pipe , thermal conductivity λ pipe The steel pipe geometry model is given to simulate the real physical behavior. According to the sensor layout plan, the position of each sensor is accurately determined in the model. The total number of sensors is N, and the coordinates of the kth sensor on the inclined shaft or steel pipe model (x sk ,y sk ,z sk ) is determined by combining the above coordinate calculation method with the layout spacing formula, and the layout spacing d sensor Determined according to the sensor type and monitoring range. For example, for displacement sensors, the spacing formula is: (N dispis the number of displacement sensors), stress sensors and temperature sensors are similar. In the model, define the monitoring parameter type (displacement, stress, temperature) and monitoring range of each sensor in detail, establish a close association between the sensor and the corresponding position in the model, ensure that the data collected by the sensor can be accurately mapped to the corresponding position in the model, and realize effective data interaction between the physical system and the digital model. For the working platform at the wellhead and bottom of the well, build a three-dimensional model based on its design structural parameters and assign it corresponding physical properties. Combine the platform model with the inclined shaft model according to the precise design position to simulate the actual construction scene. For construction equipment such as transport trolleys and lifting equipment, build accurate kinematic and dynamic models based on their complex mechanical structures and motion characteristics. For example, for a transport trolley, determine its wheel radius r wheel 、Body mass m cart , friction coefficient between wheel and track μ cart and other key parameters to build a dynamic model of its operation in the inclined well, and the operating speed v cart The relationship with the motor drive torque T can be expressed by the formula The calculation (where g is the acceleration of gravity and i is the transmission ratio) is used to accurately simulate its movement state in the inclined shaft and its impact on the transportation of steel pipes. The model construction of the lifting equipment is similar. The complex relationship between parameters such as lifting force and lifting angle and the steel pipe lifting process is fully considered to provide theoretical support for precise control during the construction process. At the inclined shaft site, according to the sensor layout plan in the digital twin model, displacement sensors are installed to accurately monitor the deformation of the inclined shaft wall and steel pipes, stress sensors are used to detect the stress of steel pipes during transportation and installation in real time, and temperature sensors are used to accurately monitor the ambient temperature and temperature changes during welding. Various types of sensors, such as sensors, are installed. Establish a connection with the data acquisition terminal in a stable and reliable wired or wireless manner. The data acquisition terminal efficiently pre-processes the data collected by the sensor and transmits it to the database of the digital twin model in real time through a high-speed network, ensuring that the model can obtain accurate field data in a timely manner and realize synchronous mapping of the physical and virtual. Carefully build a working platform at the wellhead and bottom of the well, and accurately enter detailed parameters such as the actual size and structural form of the platform into the digital twin model. Use high-precision total stations and other measuring instruments to conduct a comprehensive and detailed inspection of the interior of the inclined shaft, accurately mark the inspection results in the digital twin model, and closely associate them with the corresponding location information to provide detailed basic data for subsequent construction.

[0036] Subsequently, in addition to the flexibly adjustable clamping device and specially designed wheels, the special transport trolley is equipped with advanced GPS positioning sensors, high-precision speed sensors, and sensitive load sensors. These sensors transmit key information such as the trolley's real-time position, driving speed, and weight of the steel pipe it carries to the digital twin model at a high frequency and in real time. In the digital twin model, based on the precise real-time data of the transport trolley and the detailed geometric model of the inclined shaft, the principles of classical mechanics are used to simulate and calculate the stability of the steel pipe during transportation. The formula F=ma+Gsinα+f (where F is the resultant force on the steel pipe, m is the mass of the steel pipe, a is the acceleration of the transport trolley, G is the gravity of the steel pipe, and α is the inclination angle of the inclined shaft) is used to calculate the stability of the steel pipe during transportation. The model can accurately calculate the force acting on the steel pipe. When the model predicts the risk of sliding or collision, it will promptly send warning information to the operator through the sensitive alarm system, and provide scientific and reasonable adjustment suggestions to ensure the safety of steel pipe transportation. When lifting the steel pipe at the wellhead, high-precision force sensors and angle sensors are installed on the lifting equipment to accurately measure the lifting force and lifting angle respectively. These data are transmitted to the digital twin model in real time. The model combines the accurate weight, length and inclined shaft angle of the steel pipe and determines the optimal lifting plan through complex mechanical calculations. lift , lifting angle θ, steel pipe weight G pipe , calculate the horizontal force F x =F lift sinθ, vertical force component F y =F lift cosθ, the lifting parameters of the lifting equipment and the best path for lowering the steel pipe should satisfy: x The horizontal friction force of the inclined shaft wall on the steel pipe is balanced, that is, F x =μ1G pipe cosα (where μ1 is the friction coefficient between the steel pipe and the guide pulley), and at the same time, F y The vertical component of the steel pipe gravity and friction force, F y ≥G pipe sinα+μ2G pipe cosα (μ2 is the friction coefficient between the steel pipe and the lifting equipment). The model establishes real-time communication with the guide pulley installed on the steel pipe to accurately adjust the movement of the pulley to ensure that the steel pipe descends along the predetermined center line of the inclined shaft. At the same time, the digital twin model displays the distance between the steel pipe and the well wall in real time based on the data of the distance sensor installed on the well wall. When the distance is less than the safety threshold, an alarm is issued in time and the lifting direction is adjusted to ensure the safety and accuracy of the steel pipe lifting process. The end point of the transport trolley and the starting point of the lifting are seamlessly connected in process and space, forming a coherent and efficient steel pipe transfer link.

[0037] Next, high-precision displacement sensors and pressure sensors are installed on the support rods and rollers of the centering device on the bottom platform to accurately measure the expansion and contraction of the support rods and the force of the rollers on the steel pipes. These sensor data are transmitted to the digital twin model in real time. The digital twin model calculates the adjustment strategy of the centering device based on the precise position and posture data of the installed steel pipe and the sensor data of the currently lowered steel pipe through a complex algorithm. Assuming that the endpoint coordinates of the installed steel pipe are (x1, y1, z1) and the endpoint coordinates of the currently lowered steel pipe are (x2, y2, z2), the adjustment amounts of the centering device in the x, y, and z directions are Δx, Δy, and Δz, respectively. , then Δx=x1-x2, Δy=y1-y2, Δz=z1-z2, the centering device is accurately adjusted according to the calculated adjustment amount, so that the end points of the two steel pipes coincide in the three-dimensional space, and the preliminary centering is achieved. The coincidence accuracy is required to be within the allowable deviation δ. When using laser measurement technology to measure the butt joint port of the steel pipe, the laser measurement equipment is closely connected with the digital twin model so that the measurement data can be transmitted to the model in real time. The advanced data analysis module in the model quickly processes the measurement data and calculates the three-dimensional coordinate deviation of the butt joint port of the steel pipe. Suppose the deviations of the port in the x, y, and z directions obtained by laser measurement are Δx respectively. laser , Δy laser、 Δz laser , the adjustment sensitivity of the fine-tuning lifting equipment in the horizontal and vertical directions are S x1 , S y1 The adjustment sensitivity of the fine-tuning jack in the horizontal and vertical directions is S x2 , S y2 , then the adjustment amount of the lifting equipment in the x direction The amount of adjustment in the y direction Adjustment of the jack in the x direction The amount of adjustment in the y direction Through multiple precise adjustments and measurements, the port deviation is made less than the docking accuracy requirement value∈, achieving high-precision docking. After the docking is completed, the digital twin model records in detail the docking time, accuracy, adjustment parameters used and other key information, and is closely associated with the installation of temporary fixtures to ensure the continuity and stability of subsequent construction. High-precision current sensors, voltage sensors and speed sensors are installed on the welding equipment to collect key parameters such as welding current, voltage and welding depth in real time, and transmit these data to the digital twin model at a high rate in real time. The digital twin model uses advanced welding process knowledge base and intelligent machine learning algorithms to conduct real-time and in-depth analysis of welding parameters based on multiple factors such as the material, wall thickness and ambient temperature of the steel pipe, and through complex thermal balance principle formulas. Where U is the welding voltage, I is the welding current, λ is the thermal conductivity of the steel pipe material, S is the weld area, ΔT is the temperature rise of the steel pipe during welding, l is the heat transfer distance, m is the mass of the steel pipe participating in heat exchange near the weld, Q loss The model provides real-time optimization suggestions for welding parameters based on the amount of heat loss and the preset welding quality goals. If the welding parameters deviate from the optimal range, the model will promptly issue accurate adjustment suggestions to the welding operator to ensure stable and reliable welding quality. The advanced non-destructive testing equipment is closely connected with the digital twin model so that the test results can be fed back to the model in real time. The model establishes a comprehensive weld quality database based on the test data and uses advanced data analysis algorithms to accurately evaluate the weld quality. Suppose the weld quality score is Q, the number of defects obtained by non-destructive testing is n, the total defect size is D, and the weld length is L. Then the quality evaluation algorithm is used to evaluate the weld quality. (where a and b are weight coefficients determined according to the degree of influence of different types of defects on weld quality) to calculate the weld quality score. In the case of unqualified welds, the model automatically generates a scientific and reasonable repair plan (including repair process, repair frequency limit, etc.) according to the severity and location of the defects, and sends the plan to relevant maintenance personnel in a timely manner. At the same time, the model uses the prediction algorithm to accurately predict the subsequent welding quality based on historical weld quality data and current inspection data, and takes effective preventive measures in advance to ensure the quality of the entire welding process. When filling the gap between the steel pipe and the inclined shaft wall with concrete, the key parameters of the concrete pouring equipment (pouring speed, pressure) and the performance parameters of the concrete (slump, strength) are transmitted to the digital twin model in real time, and the concrete pouring equipment is started, and its pouring speed v pour The initial value is Where V1 is the volume of the first layer of poured concrete (r is the radius of the inclined shaft, r pipe is the radius of the steel pipe, h1 is the first layer pouring height), t1 is the estimated pouring time of the first layer, and at the same time, the pressure P of the concrete pouring equipment is accurately monitored. When the pressure value reaches the first layer pressure threshold P1 (P1 = ρ concrete gh1,ρ concrete is the density of concrete, g is the acceleration of gravity), suspend pouring, and comprehensively check the filling of concrete. For the pouring of the i-th layer (i≥2), the pouring speed v pour-i =v pour(i-1) ×k v (k v is the pouring speed adjustment coefficient, according to the slump S of the concrete lump and intensity f cu Determine, establish k through a large amount of experimental data v With S lump 、f cu Relationship model of each layer pouring height Where P i It is the pouring pressure threshold of the i-th layer, which is ΔP higher than the pressure threshold of the previous layer. During the pouring process, the filling state of concrete is continuously monitored, and the image data of the actual filling situation is obtained through the observation hole set on the inclined shaft wall, and the filling uniformity of concrete is analyzed using advanced image recognition algorithms. If uneven filling is found, the pouring speed and direction are adjusted in time to ensure that the concrete is filled densely and evenly, and to ensure the structural stability between the steel pipe and the inclined shaft wall.

[0038] Finally, during the anti-corrosion treatment of the outer surface of the steel pipe, the working parameters of the rust removal equipment and the painting parameters of the anti-corrosion paint are transmitted to the digital twin model in real time. A high-precision roughness sensor is installed on the rust removal equipment to measure the surface roughness of the steel pipe after rust removal. Flow sensors and thickness sensors are installed on the anti-corrosion paint painting equipment to measure the painting flow and thickness of the paint respectively. The digital twin model simulates and evaluates the anti-corrosion effect based on the surface roughness of the steel pipe, paint performance parameters and painting parameters to ensure the anti-corrosion quality of the steel pipe, extend the service life of the steel pipe, and ensure the long-term stability and safety of the entire pumped-storage power station inclined shaft steel pipe installation project.

[0039] In summary, this embodiment realizes the refined management of the whole process of the installation and construction of the inclined shaft steel pipe of the pumped storage power station by comprehensively applying the construction method based on digital twin technology, from accurate modeling and data collection in the construction preparation stage, to real-time monitoring and risk warning during the transportation of steel pipes, to high-precision control and intelligent evaluation of steel pipe docking, welding and quality inspection, and simulation prediction and optimization guidance in the subsequent reinforcement and protection process. This construction method effectively solves the problems of low precision, difficult quality control and high safety risks in traditional construction methods, improves construction efficiency and quality, and reduces costs.

[0040] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for installing and constructing steel pipes in an inclined shaft of a pumped storage power station, characterized in that: The specific steps of this method are: S1. Construct an initial digital twin model of the inclined shaft and steel pipe of the pumped storage power station according to the geometric structure, geological conditions, material and size information of the inclined shaft, wherein the digital twin model includes an inclined shaft geometric model and a steel pipe geometric model; A sensor network including displacement sensors, stress sensors, and temperature sensors is synchronously set up in the inclined well and the model to collect entity data; Set up working platforms at the wellhead and well bottom, enter the structural parameters and positioning information of the platforms into the digital twin model, clean and inspect the inside of the inclined well, and feed the inspection results back to the digital twin model; S2. Use a transport trolley with sensors to transport steel pipes. The position, speed, and load status information of the transport trolley are transmitted to the digital twin model in real time through sensors. The digital twin model is used to simulate the stress conditions, collision, and sliding risks of the steel pipes during transportation. When lifting steel pipes at the wellhead, the lifting parameters of the lifting equipment are fed back to the digital twin model in real time. The model calculates the best path for lowering the steel pipe based on these data and the parameters of the inclined well, and cooperates with the guide pulley installed on site to ensure that the steel pipe descends along the center line of the inclined well. At the same time, the digital twin model monitors the distance between the steel pipe and the well wall in real time to prevent collision. The end point of the transport trolley and the starting point of the lifting are connected in process and space, forming a coherent steel pipe transfer link. S3. Install sensors on the centering device of the bottom platform, transmit the adjustment data of the centering device to the digital twin model in real time, and provide adjustment strategies for the centering device based on the steel pipe position and posture data recorded in the transportation and lifting links and the data of the current lowered steel pipe for comprehensive analysis to achieve preliminary centering. The docking port of the steel pipe is measured using laser measurement technology, and the measurement data is synchronized to the digital twin model. The model determines the adjustment amount of the fine-tuning lifting equipment and the fine-tuning jack through data analysis and simulation to achieve the control of docking accuracy. After the docking is completed, the digital twin model records the docking status and associates it with the installation status of the welding equipment; S4. After the steel pipes are butt-jointed, they are welded. Parameter acquisition sensors are installed on the welding equipment to transmit the welding current, voltage, and welding speed parameters to the digital twin model in real time. The model analyzes the welding parameters in real time and provides optimization suggestions based on the steel pipe material and wall thickness information. For weld quality inspection, the test results of non-destructive testing equipment are fed back to the digital twin model. The model establishes a weld quality database based on the test data, evaluates and predicts the weld quality, and promptly warns of unqualified welds. S5. After the steel pipe is welded, concrete is used to fill the gap between the steel pipe and the inclined shaft wall. The parameters of the concrete pouring equipment and the performance parameters of the concrete are passed into the digital twin model. The model simulates the concrete filling process, predicts and guides the layered pouring and vibration operations.

2. According to the method for installing and constructing the inclined shaft steel pipe of a pumped storage power station according to claim 1, it is characterized in that: The construction process of the S1 inclined well geometric model is as follows: according to the inclined well design drawings, the geometric parameters of the inclined well are obtained, including the length L, diameter D, and inclination angle α of the inclined well, and the inclined well is discretized into m micro-segments based on the center line of the inclined well, and Where Δl is the length of the micro-segment. For each micro-segment, its coordinates in three-dimensional space are calculated. The coordinates of the wellhead are defined as (x0, y0, z0). Then the coordinates of the midpoint of the i-th micro-segment (x i ,y i ,z i ),Right now Where β is the azimuth of the inclined well on the horizontal plane. By connecting the midpoint coordinates of the micro-segments, the three-dimensional geometric model of the inclined well is constructed.

3. According to the method for installing and constructing the inclined shaft steel pipe of a pumped storage power station in claim 1, it is characterized in that: The S1 steel pipe geometric model construction process is as follows: the outer diameter d of the steel pipe is obtained according to the steel pipe design specifications. outer , inner diameter d inner Length L pipe , taking the center line of the steel pipe as the reference, discretize the steel pipe into n micro-units, and Where Δl pipe is the length of the steel pipe micro-unit. For each micro-unit, its coordinates in three-dimensional space are calculated. The coordinates of one end of the steel pipe are defined as (x p0 ,y p0 ,z p0 ), then the midpoint coordinates of the jth microunit (x pj ,y pj ,z pj ),Right now γ is the placement angle of the steel pipe on the horizontal plane. By connecting the midpoint coordinates of the micro-units, a three-dimensional geometric model of the steel pipe is constructed, and it is combined with the inclined shaft geometric model to form the initial digital twin model of the inclined shaft and steel pipe of the pumped-storage power station.

4. According to the method for installing and constructing the inclined shaft steel pipe of a pumped storage power station as described in claim 1, it is characterized in that: The S2 uses a digital twin model to simulate the stress of the steel pipe during transportation. According to the principle of mechanics, the force calculation method is F=ma+Gsinα+f, where F is the resultant force on the steel pipe, m is the mass of the steel pipe, a is the acceleration of the transport trolley, G is the weight of the steel pipe, α is the inclination angle of the inclined shaft, f is the friction force, and the friction force f=μN, μ is the friction coefficient, N is the positive pressure between the steel pipe, the transport trolley and the inclined shaft wall, and N=Gcosα. When F>F safe When the risk of collision and slipping is determined, F safe is the safety threshold and F safe =min{F test1 ,F test2 ,…,F testn }×k s , where {F test1 ,F test2 ,…,F testn In order to conduct simulation tests through the digital twin model, different transport speed v ranges and acceleration a values ​​are set, and n simulation tests are conducted on the steel pipe transportation process. For each test, the resultant force value F when obvious collision and sliding signs appear is measured and recorded. test , k s It is the safety factor, and its value is 0.8-1, which is the safety margin reserved during construction to cope with complex and changeable working conditions.

5. According to the method for installing and constructing the inclined shaft steel pipe of a pumped storage power station in claim 1, it is characterized in that: When S2 is lifting the steel pipe at the wellhead, according to the lifting force F lift , lifting angle θ, steel pipe weight G pipe , then the horizontal force F x =F lift sinθ, vertical force component F y =F lift cosθ, the lifting parameters of the lifting equipment and the optimal path for lowering the steel pipe should satisfy: x The horizontal friction force of the inclined shaft wall on the steel pipe is balanced, that is, F x =μ1G pipe cosα, where μ1 is the friction coefficient between the steel pipe and the guide pulley, and F y The vertical component of the steel pipe gravity and friction force, F y ≥G pipe sinα+μ2G pipe cosα, μ2 is the friction coefficient between the steel pipe and the lifting equipment.

6. The method for installing and constructing steel pipes in the inclined shaft of a pumped storage power station according to claim 1, characterized in that: After S3 uses laser measurement technology to measure the butt joint port of the steel pipe, the adjustment amount of the fine-tuning lifting equipment and the fine-tuning dry jack is determined through the model, that is, the deviations of the port measured by laser in the x, y, and z directions are Δx respectively. laser、 Δy laser、 Δz laser , the adjustment sensitivity of the fine-tuning lifting equipment in the horizontal and vertical directions are S x1 , S y1 The adjustment sensitivity of the fine-tuning jack in the horizontal and vertical directions is S x2 , S y2 , then the adjustment amount of the lifting equipment in the x direction The amount of adjustment in the y direction Adjustment of the jack in the x direction The amount of adjustment in the y direction 7. The method for installing and constructing steel pipes in the inclined shaft of a pumped storage power station according to claim 1, characterized in that: The S5 model starts the concrete pouring equipment when predicting and guiding the layered pouring, and its pouring speed v pour The initial value is Where V1 is the volume of the first layer of concrete poured, t1 is the estimated pouring time of the first layer, and r is the radius of the inclined shaft, r pipe is the radius of the steel pipe, h1 is the first layer pouring height, and at the same time, the pressure P of the concrete pouring equipment is monitored. When the pressure value reaches the first layer pressure threshold P1, P1 = ρ concrete gh1,ρ concrete is the density of concrete, g is the acceleration due to gravity, pause pouring and check the filling condition of concrete.

8. The method for installing and constructing steel pipes in the inclined shaft of a pumped storage power station according to claim 1, characterized in that: When the S5 model predicts and guides the layered pouring, for the pouring of the i-th layer (i≥2), the pouring speed v pour-i v pour-i =v pour(i-1) ×k v , k v is the pouring speed adjustment factor, where the pouring height of each layer is Where P i is the pouring pressure threshold of the i-th layer, which is ΔP higher than the pressure threshold of the previous layer. During the pouring process, the filling status of the concrete is continuously monitored.

Images