Installation and construction method of steel pipe in inclined shaft of pumped storage power station

Abstract

The present invention discloses a method for installing and constructing steel pipes in an inclined shaft of a pumped-storage power station, and relates to the technical field of construction of pumped-storage power stations. The method specifically comprises the following steps: constructing an initial digital twin model of the inclined shaft and steel pipes of the pumped-storage power station based on the geometric structure, geological conditions, material and size information of the inclined shaft, wherein the digital twin model comprises a geometric model of the inclined shaft and a geometric model of the steel pipe. The present invention applies the digital twin model throughout the entire construction process, and, starting from the transportation of the steel pipes, monitors in real time the position, speed and load-bearing status of the transport trolley and the stress conditions of the steel pipes, thereby 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, based on 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, and the weld quality inspection results are 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 and valley-filling, 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 has been unable to meet the needs of modern pumped-storage power station construction. Therefore, the development of 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 a pumped-storage power station 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 slippage. 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, which cannot detect problems and issue early warnings in a timely manner.

[0004] In summary, the traditional construction method for installing steel pipes in the inclined shaft of a pumped-storage power station 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 steel pipes in the inclined shaft of a pumped-storage power station. Summary of the Invention

[0005] The purpose of this invention is to make up for the shortcomings of the existing technology and provide a method for installing and constructing inclined shaft steel pipes in pumped-storage power stations. 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 solutions: a method for installing steel pipes in the inclined shaft of a pumped storage power station, 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 based on the geometric structure, geological conditions, and material and size information of the inclined shaft. The digital twin model includes a geometric model of the inclined shaft and a geometric model of the steel pipe.

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

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

[0010] S2. Use a transport trolley equipped with sensors to transport steel pipes. The position, speed, and load status 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 slip risks of the steel pipes during transportation.

[0011] When lifting steel pipes at the wellhead, the lifting equipment's lifting parameters are fed back to the digital twin model in real time. Based on this data and the inclined shaft parameters, the model calculates the optimal path for lowering the pipes. It then works with the guide pulleys installed on-site to ensure the pipes descend along the centerline of the inclined shaft. The digital twin model also monitors the distance between the pipes and the well wall in real time to prevent collisions. The transport trolley's endpoint and the lifting starting point are seamlessly connected in terms of process and space, forming a coherent pipe transfer process.

[0012] S3. Install sensors on the centering device on the bottom-of-hole platform to transmit the centering device's adjustment data to the digital twin model in real time. Based on the steel pipe position and posture data recorded during transportation and lifting, combined with the current lowered steel pipe data, an adjustment strategy is provided for the centering device to achieve preliminary alignment.

[0013] Laser measurement technology is used to measure the butt joints of steel pipes, and the measurement data is synchronized with the digital twin model. The model uses data analysis and simulation to determine the adjustment amount of the fine-tuning lifting equipment and fine-tuning jacks to achieve control of the butt joint accuracy. After the butt joint is completed, the digital twin model records the butt joint 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 then analyzes the welding parameters in real time and provides optimization recommendations based on the steel pipe material and wall thickness information.

[0015] For weld quality testing, 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 weld quality, and provides timely warnings for unqualified welds.

[0016] S5. After the steel pipe is welded, the gap between the steel pipe and the inclined shaft wall is filled with concrete. The parameters of the concrete pouring equipment and the performance parameters of the concrete are input 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 inclined well length L, diameter D, and inclination angle α, 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, calculate its coordinates in three-dimensional space. Define the coordinates of the wellhead 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 angle 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, calculate its coordinates in three-dimensional space. The coordinate system of the inclined well model is the same. The coordinate of one end of the steel pipe is defined as (x p0 ,y p0 ,z p0 ), then the midpoint coordinates of the jth micro-unit (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. This model is then combined with the inclined shaft geometric model to form the initial digital twin model of the pumped-storage power station inclined shaft and steel pipe.

[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 normal pressure between the steel pipe, the transport trolley and the inclined shaft wall, and N=Gcosα. When F>F safeWhen the risk of collision and slipping is detected, 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 To conduct simulation tests using the digital twin model, different transport speed v ranges and acceleration a values ​​were set, and n simulation tests were conducted on the steel pipe transportation process. For each test, the resultant force value F when obvious collision and slip signs appeared was measured and recorded. test , k s It is the safety factor, with a value of 0.8-1, which is the safety margin reserved during construction to cope with complex and changeable working conditions.

[0020] Furthermore, when the 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 component 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 should be overcome, that is, 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 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 deviation of the port in the x, y, and z directions obtained by laser measurement is Δx 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 is Adjustment amount in the y direction Adjustment of the jack in the x direction Adjustment amount 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 coefficient, where the pouring height of each layer is Among them, 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 existing technology, this method for installing and constructing steel pipes in the inclined shaft of a pumped storage power station has the following beneficial effects:

[0025] 1. The present invention applies the digital twin model throughout the entire construction process. Starting from the transportation of steel pipes, the position, speed, load status of the transport trolley and the stress conditions of the steel pipes are monitored in real time, effectively avoiding the risks of collision and slipping during transportation and ensuring that the steel pipes are in good initial condition. During the welding process, based on the real-time collected welding parameters and information on the steel pipe material and wall thickness, 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 overall operating efficiency.

[0026] 2. The present invention uses the real-time monitoring and risk prediction functions of the digital twin model for the construction process, so that construction personnel can know 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 throughout the 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, objects and features of the present invention will be described 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 learned from the practice of the 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 the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts.

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

[0030] Figure 2 This is a flowchart of the steps in Example 1 of the construction method for installing steel pipes in the inclined shaft of a pumped storage power station. DETAILED DESCRIPTION

[0031] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Example 1

[0033] This example describes in detail the digital twin technology-based construction method used in the installation of steel pipes in the inclined shaft of a pumped-storage power station. By carefully constructing a digital twin model and closely integrating model simulation with actual operations at each construction link, precise control of the entire process of steel pipe transportation, docking, welding, reinforcement, and protection is achieved. This method effectively improves 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 inclined well length L, diameter D and inclination angle α. The inclined well is discretized into m micro-segments based on the centerline 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. For example, 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, taking the center line of the steel pipe as the benchmark, discretize the steel pipe into n micro units, and 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 well model, that is, the coordinates of one end of the steel pipe are (x p0 ,y p0 ,z p0 ), then the midpoint coordinates of the jth micro-unit (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. This is then precisely combined with the inclined shaft geometric model according to the designed position to form the initial digital twin model of the pumped-storage power station inclined shaft and steel pipe, 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 Key material mechanical parameters such as axial and axial length are accurately assigned to the corresponding parts of the inclined shaft geometric model. For steel pipes, the elastic modulus E is determined based on its material properties. pipe , Poisson's ratio ν pipe , density ρ pipe , thermal conductivity λ pipe Physical parameters such as , and give the steel pipe geometric model, so that the model can simulate the real physical behavior, according to the sensor layout plan, accurately determine the position of each sensor in the model, let the total number of sensors be N, 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 disp is 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 and the inclined well 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 structure and motion characteristics. For example, for the transport trolley, determine its wheel radius r wheel , vehicle body mass m cart , friction coefficient between wheel and track μ cart Key parameters such as the running speed v are used to build a dynamic model of the running in the inclined well. cart The relationship with the motor drive torque T can be expressed by the formula 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, and 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 in real time during transportation and installation, and temperature sensors are used to accurately monitor the ambient temperature and temperature changes during welding. Various types of sensors are installed. Establish a stable and reliable connection with the data acquisition terminal via wired or wireless means. 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 via 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 well. The inspection results are accurately marked in the digital twin model and closely associated with the corresponding location information to provide detailed basic data for subsequent construction.

[0036] Subsequently, in addition to the specially designed transport trolley with a flexibly adjustable clamping device and specially designed wheels, it is also 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 the 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 acting 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, and α is the inclination angle of the inclined shaft) is used to calculate the stability of the steel pipe during transportation. The model accurately calculates the resultant force on the steel pipe. When the model predicts the risk of sliding or collision, it promptly issues a warning message to the operator through a sensitive alarm system, and provides scientific and reasonable adjustment suggestions to ensure the safety of steel pipe transportation. When lifting steel pipes 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 component F x =Flift 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 at the same time, F y The vertical component of the steel pipe gravity and friction force should be overcome, that is, 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 terms of 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 hole platform to accurately measure the expansion and contraction of the support rods and the force exerted by 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 pipes and the sensor data of the currently lowered steel pipes through a complex algorithm. Assuming that the endpoint coordinates of the installed steel pipes are (x1, y1, z1) and the endpoint coordinates of the currently lowered steel pipes 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 three-dimensional space, achieving preliminary centering, and the coincidence accuracy is required to be within the allowable deviation δ. When using laser measurement technology to measure the butt joint of steel pipes, 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 of steel pipes. 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 y1The 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 is Adjustment amount in the y direction Adjustment of the jack in the x direction Adjustment amount 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 closely associates it 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 based on multiple factors such as the material, wall thickness and ambient temperature of the steel pipe to conduct real-time and in-depth analysis of the welding parameters, 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. 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, through the quality assessment algorithm, (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 the 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 vpour The initial value is Where V1 is the volume of the first layer of poured concrete (r is the radius of the inclined well, r pipe is the radius of the steel pipe, h1 is the first layer pouring height), t1 is the expected 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), pause pouring, and fully 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 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 Among them, P i is the pouring pressure threshold for the i-th layer, which increases by ΔP compared to the previous layer's pressure threshold. During the pouring process, the concrete filling status is continuously monitored. Image data of the actual filling is obtained through observation holes set in the inclined shaft wall. Advanced image recognition algorithms are used to analyze the uniformity of the concrete filling. If uneven filling is detected, the pouring speed and direction are adjusted promptly to ensure dense and uniform concrete filling, thereby safeguarding the structural stability between the steel pipe and the inclined shaft wall.

[0038] Finally, during the anti-corrosion treatment process on the outer surface of the steel pipe, the working parameters of the rust removal equipment and the application 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. A flow sensor and a thickness sensor are installed on the anti-corrosion paint application equipment to measure the application 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, the paint performance parameters and the application 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 inclined shaft steel pipe installation project of the entire pumped-storage power station.

[0039] In summary, this embodiment achieves refined management of the entire process of steel pipe installation and construction in the inclined shaft of a pumped-storage power station by comprehensively applying a construction method based on digital twin technology. This approach encompasses precise modeling and data collection during the construction preparation phase, real-time monitoring and risk warning during steel pipe transportation, high-precision control and intelligent evaluation of steel pipe docking, welding, and quality inspection, as well as simulation prediction and optimization guidance during subsequent reinforcement and protection. This approach effectively addresses the low precision, difficult quality control, and high safety risks inherent in traditional construction methods, improving construction efficiency and quality while reducing costs.

[0040] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. The method for installing and constructing steel pipes in the inclined shaft of a pumped storage power station is 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 based on the geometric structure, geological conditions, and material and size information of the inclined shaft. The digital twin model includes a geometric model of the inclined shaft and a geometric model of the steel pipe. A sensor network including displacement sensors, stress sensors, and temperature sensors is synchronously set up in the deviated well and the model to collect entity data; Set up work platforms at the wellhead and bottom, enter the platform's structural parameters and positioning information into the digital twin model, clean and inspect the interior of the inclined well, and feed the inspection results back to the digital twin model; S2. Use a transport trolley equipped with sensors to transport steel pipes. The position, speed, and load status 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 slip risks of the steel pipes during transportation. When lifting steel pipes at the wellhead, the lifting equipment's lifting parameters are fed back to the digital twin model in real time. Based on this data and the inclined shaft parameters, the model calculates the optimal path for lowering the pipes. It then works with the guide pulleys installed on-site to ensure the pipes descend along the centerline of the inclined shaft. The digital twin model also monitors the distance between the pipes and the well wall in real time to prevent collisions. The transport trolley's endpoint and the lifting starting point are seamlessly connected in terms of process and space, forming a coherent pipe transfer process. S3. Install sensors on the centering device on the bottom-of-hole platform to transmit the centering device's adjustment data to the digital twin model in real time. Based on the steel pipe position and posture data recorded during transportation and lifting, combined with the current lowered steel pipe data, an adjustment strategy is provided for the centering device to achieve preliminary alignment. Laser measurement technology is used to measure the butt joints of steel pipes, and the measurement data is synchronized with the digital twin model. The model uses data analysis and simulation to determine the adjustment amount of the fine-tuning lifting equipment and fine-tuning jacks to achieve control of the butt joint accuracy. After the butt joint is completed, the digital twin model records the butt joint 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 then analyzes the welding parameters in real time and provides optimization recommendations based on the steel pipe material and wall thickness information. For weld quality testing, 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 weld quality, and provides timely warnings for unqualified welds. S5. After the steel pipe is welded, the gap between the steel pipe and the inclined shaft wall is filled with concrete. The parameters of the concrete pouring equipment and the performance parameters of the concrete are input into the digital twin model. The model simulates the concrete filling process, predicts and guides the layered pouring and vibration operations.

2. 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 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 inclined well length L, diameter D, and inclination angle α. 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, calculate its coordinates in three-dimensional space. Define the coordinates of the wellhead 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 angle 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. 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 process of constructing the S1 steel pipe geometric model 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, calculate its coordinates in three-dimensional space. The coordinate system of the inclined well model is the same. The coordinate of one end of the steel pipe is defined as (x p0 ,y p0 ,z p0 ), then the midpoint coordinates of the jth micro-unit (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. This model is then combined with the inclined shaft geometric model to form the initial digital twin model of the pumped-storage power station inclined shaft and steel pipe.

4. 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 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 To conduct simulation tests using the digital twin model, different transport speed v ranges and acceleration a values ​​were set, and n simulation tests were conducted on the steel pipe transportation process. For each test, the resultant force value F when obvious collision and slip signs appeared was measured and recorded. test , k s It is the safety factor, with a value of 0.8-1, which is the safety margin reserved during construction to cope with complex and changeable working conditions.

5. 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 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 component 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 should be overcome, that is, 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 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 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 is 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 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 coefficient, where the pouring height of each layer is Among them, 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