Sediment identification device for pumped storage water delivery pipeline and silt amount measurement method

Abstract

The invention discloses a silt recognition device and a silt amount measurement method for a pumped storage water delivery pipeline, and relates to the technical field of silt monitoring. The device comprises a robot main body, a visual recognition module, a silt measurement module, an in-situ silt sampling module and an obstacle removing module; the visual identification module, the silt measuring module, the in-situ silt sampling module and the obstacle clearing module are all installed on the robot body. The method comprises the following steps: forming an initial image, and acquiring silt coverage position and area data; performing graphic processing, feature extraction, classification identification and area calculation to obtain the silt volume and the silt total volume of each silt area; and measuring the average volume weight of silt and the total weight of silt in the water channel pipe wall. According to the method, automatic operation of intelligent identification of silt in the water channel of the water pumping power station and silt amount metering can be achieved, the method is rapid, low in cost and high in precision, the monitoring problem of silt accumulated in the water channel of the water pumping and energy storage power station can be solved, and visual and precise monitoring of silt in the water channel is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of siltation monitoring, and in particular to a pumped storage water pipeline siltation identification device and a siltation amount measurement method. Background Art

[0002] The waterway system in a pumped storage power station mainly includes water diversion channels, water guide pipes, pressure pipes and return channels. The waterway system can flexibly adjust the water flow to meet the needs of the power station under different working conditions, ensure the efficient operation of the system, and ensure the efficiency and reliability of the pumped storage power station. Since pumping and water transmission and power generation are shared, they are subject to high water pressure and flow rate. Silt and sand in the water flow accumulate continuously, which will increase the head loss of the pipeline and affect the benefits of pumping and power generation. Branches and sharp stones that are easy to get stuck will scratch and wear the pipe wall with high flow rate water, which is not conducive to the operation and maintenance of pumped storage. To solve this problem, it is necessary to detect and obtain the distribution position, coverage area, coverage thickness and siltation amount of obstacles such as silt and stones attached to the inner wall of the pipeline, and crush branches and stones that are easy to damage the pipe wall, so that the waterway system can operate safely and reliably. Because the pumped storage pipeline is long, the slope is large, the internal space is narrow and closed, it is not conducive to manual detection. Internal siltation in pumped storage waterways is an important factor affecting the smooth flow of water and the safe operation of waterway systems. Traditional detection methods have problems such as low efficiency, high cost, and great safety hazards. Therefore, it is proposed that a method that can intelligently identify the silt distribution and silt amount measurement method of pumped storage water pipelines should be designed to solve the existing problems. Summary of the invention

[0003] The present invention aims to solve the problems in the prior art that the pumped storage pipeline is long, has a large slope, and has a narrow and closed internal space, which is not conducive to manual detection, and the traditional detection method has low efficiency, high cost, and great safety hazards. A pumped storage water pipeline siltation identification device and a siltation amount measurement method are provided.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0005] A pumped-storage water pipeline siltation identification device comprises a robot body, a visual recognition module, a siltation measurement module, an in-situ siltation sampling module and an obstacle removal module. The visual recognition module, the siltation measurement module, the in-situ siltation sampling module and the obstacle removal module are all installed on the robot body. The robot body is connected to an external terminal device, and the data detected by the visual recognition module, the siltation measurement module, the in-situ siltation sampling module and the obstacle removal module are all transmitted to the terminal device for processing.

[0006] Based on the above technical solution, further, the visual recognition module includes a first rotating arm and a camera mechanism, and the camera mechanism is installed at the end of the first rotating arm, wherein the camera mechanism includes a camera and a first wireless transmission unit. When the robot body is in the moving process, the camera that moves with the robot body transmits the image data captured during the movement in real time to the terminal device connected to the external communication through the first wireless transmission unit.

[0007] Based on the above technical solution, further, the silt measurement module includes a second rotating arm, an ultrasonic probe and a second wireless transmission unit. The ultrasonic probe is installed at the end of the second rotating arm, and the silt thickness data randomly detected by the ultrasonic probe is transmitted to the terminal device in real time through the second wireless transmission unit.

[0008] Based on the above technical solution, further, the in-situ silt sampling module includes a third rotating arm and an in-situ sampler, wherein the in-situ sampler is installed on the top of the third rotating arm, and the bottom of the third rotating arm is installed on the robot body.

[0009] Based on the above technical solution, further, the in-situ sampler includes an inner sleeve, an outer sleeve, a top cover, a packaging chassis and a first air pressure regulating mechanism; wherein, the tops of the inner sleeve and the outer sleeve are welded together through the top cover, and an air pressure gasket is provided between the inner sleeve and the outer sleeve, the packaging chassis is welded to the bottom of the outer sleeve, and the first air pressure regulating mechanism is arranged at the upper end of the top cover.

[0010] Based on the above technical solution, further, the packaging chassis includes a hollow disk, a support spring, a latch spring and a sealing iron sheet; the latch spring and the sealing iron sheet are arranged inside the hollow disk, the support spring is arranged outside the hollow disk, and one end of the support spring is connected to the hollow disk, and the other end is connected to the air pressure gasket; one end of the latch spring is connected to the inside of the hollow disk, and the other end is connected to the sealing iron sheet.

[0011] Based on the above technical solution, further, the obstacle clearing module includes a fourth rotating arm, a grabbing mechanism and an ultrasonic crusher; wherein the grabbing mechanism includes a second air pressure regulating mechanism, the second air pressure regulating mechanism is installed at one end of the fourth rotating arm, and the other end of the fourth rotating arm is installed on the robot body; the ultrasonic crusher is installed at the lower end of the fourth rotating arm.

[0012] A method for measuring the amount of silt in a pumped storage water pipeline comprises the following steps: step S1, using a visual recognition module to scan the waterway pipe wall and form an initial image, and obtaining silt coverage position and area data based on the initial image; step S2, performing graphic processing, feature extraction, classification recognition and area calculation on the obtained data to obtain the silt volume of each silt area, and adding up the silt volumes to obtain the total silt volume in the waterway pipe wall; step S3, when the robot body returns, using the silt measurement module to measure the silt thickness h j , and randomly obtain multiple groups of silt samples based on the in-situ silt sampling module to measure the average bulk density of silt γ 淤 And the total weight of silt in the waterway wall.

[0013] Based on the above technical solution, further, in step S2, the area calculation process is: based on the silt measurement module, the silt thickness h of each section is measured. j , and calculate the silt distribution area S of each siltation area j =0.25πD 2 Ln j / N; where D is the average diameter of the water pipe, in meters; L is the total length of the water pipe, in meters; n j represents the number of pixel units; N represents the total number of pixel units; the corresponding silt volume V j =V j =S j ×h j ; The total volume of silt is multiple V j The sum.

[0014] Based on the above technical solution, further, the average bulk density of silt γ 淤 =(γ 1 +γ 2 +γ 3 ) / 3; where γ 1 , γ 2 , γ 3 Corresponding to any three groups of silt wet density in the section; silt weight G j =γ 淤 V j ; Total weight of silt G = ∑G j .

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The present invention provides a measurement method that utilizes visual recognition technology and in-situ sampling means to quickly and accurately obtain multiple indicators such as the location, area, thickness, bulk density and weight of silt distribution in a waterway of a pumped-storage power station. The method can realize the intelligent identification of silt inside the waterway of a pumped-storage power station and the automated operation of silt quantity measurement. The method is fast, low-cost and highly accurate, and can solve the problem of monitoring silt accumulation inside the waterway of a pumped-storage power station, and realize visual and precise monitoring of silt in the waterway.

[0017] (2) The present invention proposes an automated in-situ sampling device that uses a robot to quickly and accurately sample silt to obtain important indicators such as the wet bulk density and silt composition of the silt in the waterway. This can minimize human disturbance, improve sampling accuracy, and reduce sampling costs.

[0018] (3) The obstacle removal module proposed in the present invention can also use ultrasonic wave to crush obstacles such as stones and branches inside the waterway, thus ensuring the long-term durability of the waterway. This method has fast detection speed and low cost, and has important application value and practical significance for the safe and efficient operation of pumped storage power stations, as well as waterway siltation detection and waterway maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a front view of the intelligent identification device for waterway siltation of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the in-situ sampling device of the present invention;

[0021] Figure 3 for Figure 2 A is an enlarged schematic diagram;

[0022] Figure 4 It is a schematic diagram of the structure of the air pressure gasket in the present invention;

[0023] Figure 5 This is a schematic diagram of the fully opened state of the packaging chassis of the present invention;

[0024] Figure 6 This is a schematic diagram of the packaging chassis of the present invention in a half-open state;

[0025] Figure 7 This is a schematic diagram of the fully closed state of the packaging chassis of the present invention;

[0026] Figure 8 It is a structural diagram of the obstacle removal module.

[0027] Reference numerals: 1. robot body; 11. robot arm; 12. lithium-ion battery; 2. visual recognition module; 21. first rotating arm; 22. camera; 23. first wireless transmission unit; 3. silt measurement module; 31. second rotating arm; 32. ultrasonic probe; 33. second wireless transmission unit; 4. in-situ silt sampling module; 41. third rotating arm; 42. in-situ sampler; 421. inner casing; 422. outer casing; 423. top cover; 424. packaging chassis; 425 , the first air pressure regulating mechanism; 426, air pressure gasket; 427, steel column; 4241, support spring; 4242, latch spring; 4243, water-stop rubber; 4244, sealing iron sheet; 4245, knife edge; 4246, latch; 4247, hollow disk; 5, obstacle removal module; 51, fourth rotating support arm; 52, the second air pressure regulating mechanism; 53, air pressure chamber; 54, piston; 55, traction rope; 56, rotating shaft; 57, tension rope; 58, horizontal arm; 59, ultrasonic crusher; 60, grabber. DETAILED DESCRIPTION

[0028] The present invention is further described and illustrated below in conjunction with the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0029] In order to make the above-mentioned purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0030] In the description of the present invention, it is to be understood that when an element is considered to be "connected" to another element, it may be directly connected to the other element or indirectly connected, that is, there are intermediate elements. On the contrary, when an element is said to be "directly" connected to another element, there are no intermediate elements.

[0031] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for the purpose of distinguishing descriptions, and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0032] Example 1

[0033] Combination Figure 1-Figure 8As shown, this embodiment provides a pumped storage water pipeline siltation identification device, including a robot body 1, a visual recognition module 2, a siltation measurement module 3, an in-situ siltation sampling module 4 and an obstacle removal module 5, wherein the visual recognition module 2, the siltation measurement module 3, the in-situ siltation sampling module 4 and the obstacle removal module 5 are all installed on the robot body 1, and the robot is powered by a lithium-ion battery 12 with a high energy density on the back, which has a long cycle life and high safety. The robot body 1 is connected to an external terminal device, and the data detected by the visual recognition module 2, the siltation measurement module 3, the in-situ siltation sampling module 4 and the obstacle removal module 5 are all transmitted to the terminal device for processing; wherein the robot body 1 has the crawling ability to adapt to the internal environment of the waterway, when in the unopened state, the robot body 1 The mechanical arm 112 is in a retracted state and can be flexibly extended to avoid obstacles, and when in the open state, the mechanical arm 112 is opened and aimed at the detection area, and the equipment installed at the end of the mechanical arm 112 is used to work.

[0034] In this embodiment, the visual recognition module 2 includes a first rotating arm 21 and a camera mechanism, which is installed at the end of the first rotating arm 21, and the camera mechanism includes a camera 22 and a first wireless transmission unit 23, wherein the camera 22 is preferably a 360-degree high-definition camera. When the robot body 1 is in the moving process, the image data captured by the camera 22 moving with the robot body 1 during the moving process is transmitted in real time to the terminal device connected to the external communication through the first wireless transmission unit 23. The terminal device is provided with an image recognition module inside, and the image recognition module performs operations such as graphic processing, feature extraction, classification recognition, and area calculation on the received image data, and finally obtains the silt distribution area data of each silt area. Further, the terminal device can also quickly and accurately lock the position of obstacles such as branches with a length exceeding the pipe diameter or stones with a contour diameter exceeding 10 cm based on the received image data, so as to facilitate the robot body 1 to complete the obstacle removal work during the return process after the shooting is completed. It should be noted that the terminal device can select a computer, which can complete the operation process of receiving the image data transmitted by the camera 22 and performing graphic processing, silt thickness measurement data processing, etc.

[0035] In this embodiment, the silt measurement module 3 includes a second rotating arm 31, an ultrasonic probe 32 and a second wireless transmission unit 33, wherein the ultrasonic probe 32 is installed at the end of the second rotating arm 31. Every time the ultrasonic probe 32 moves a certain distance, such as a distance of 10 m, the silt thickness data of multiple silt areas randomly detected by the installed ultrasonic probe 32 can be transmitted to the terminal device in real time through the second wireless transmission unit 33. After the terminal device receives the silt thickness data, the average value of the silt thickness data corresponding to the multiple silt areas is taken as the silt thickness h of the section (for example, 10 m is a section). j , unit is m.

[0036] In this embodiment, multiple groups of in-situ silt sampling modules 4 can be set, and each group of in-situ silt sampling modules 4 includes a third rotating support arm 41 and an in-situ sampler 42, wherein the in-situ sampler 42 is installed on the top of the third rotating support arm 41, and the bottom of the third rotating support arm 41 is installed on the robot body 1.

[0037] In this embodiment, the in-situ sampler 42 includes an inner sleeve 421, an outer sleeve 422, a top cover 423, a packaging chassis 424 and a first air pressure regulating mechanism 425, wherein the inner sleeve 421 and the outer sleeve 422 have the same length, the inner sleeve 421 is used to collect silt at the sampling location, the inner sleeve 421 and the top of the outer sleeve 422 are welded together through the top cover 423, and the packaging chassis 424 is welded to the bottom of the outer sleeve 422. The first air pressure regulating mechanism 425 is arranged at the upper end of the top cover 423, and the first air pressure regulating mechanism 425 has an automatic pressure regulating unit and a third wireless transmission unit built therein; an air pressure gasket 426 is arranged between the inner sleeve 421 and the outer sleeve 422, and the air pressure gasket 426 is annular in shape, and four steel columns 427 are used to pass through the air pressure gasket 426, and the two ends of the steel columns 427 are respectively welded perpendicularly to the top cover 423 and the upper side of the hollow disk 4247, and the purpose of arranging the steel columns 427 is to prevent the air pressure gasket 426 from tilting and deforming; The pressure gasket 426 can move freely up and down along the steel column 427, the outer wall of the inner sleeve 421, and the inner wall of the outer sleeve 422, and the space above the air pressure gasket 426 is completely sealed; a pin 4246 is symmetrically connected on both sides below the air pressure gasket 426, and several supporting springs 4241 are used to connect the air pressure gasket 426 and the upper side of the hollow disk 4247, wherein the hollow disk 4247 is an inverted U-shape with a hollow structure inside; the packaging chassis 424 is composed of two semicircular structures, which are symmetrically welded to the bottom of the outer sleeve 422.

[0038] In this embodiment, the packaging chassis 424 is composed of a hollow disk 4247, a support spring 4241, a latch spring 4242, a sealing iron sheet 4244, a water-stop rubber 4243, and a knife edge 4245, and the hollow disk 4247 and the sealing iron sheet 4244 are both semicircular structures, the latch spring 4242 and the sealing iron sheet are arranged inside the hollow disk 4247, the support spring 4241 is arranged outside the hollow disk 4247, and one end of the support spring 4241 is connected to the hollow disk 4247, and the other end is connected to the air pressure gasket 426; one end of the latch spring 4242 is connected to the middle position of the inner cavity of the hollow disk 4247, and the other end is connected to the sealing iron sheet 4244. A round hole is set between the hollow disk 4247 and the sealing iron sheet 4244, and the position of the round hole is aligned with the clamping pin below the air pressure gasket 426; a circle of knife edges 4245 are welded on the lower edge of the hollow disk 4247 to facilitate the insertion of silt during sampling; the outer edge of the sealing iron sheet 4244 and the sealing iron sheet 4244 Water-stop rubber 4243 is arranged at the opening of hollow disk 4247 to prevent silt from flowing into hollow disk 4247 or losing from the joint of sealing iron sheets 4244 on both sides after sampling; when latch spring 4242 is compressed to make sealing iron sheet 4244 completely retracted into hollow disk 4247, the air pressure in the upper space of air pressure gasket 426 is increased, so that air pressure gasket 426 moves downward, driving the card pin to be inserted into the circular hole of hollow disk 4247 and sealing iron sheet 4244, and the sealing is closed at this time. The iron sheet 4244 is in a fixed state, and the inner sleeve 421 is in an open state at this time; when the blade 4245 is inserted into the silt, the air pressure in the space above the air pressure gasket 426 is reduced, and the air pressure gasket 426 moves upward under the action of the support spring 4241, driving the clamping pin to leave the round hole, releasing the pressure of the latch spring 4242 in the hollow disk 4247 on both sides, so that the sealing iron sheets 4244 on both sides pop out and seal the silt sample taken from the inner sleeve 421. The multiple groups of silt samples obtained by sampling are weighed and measured in volume to obtain the corresponding number of groups of silt wet bulk density, and their average value γ is calculated. 淤 .

[0039] In this embodiment, the obstacle removal module 5 includes a fourth rotating arm 51, a gripping mechanism and an ultrasonic crusher 59. The gripping mechanism is composed of a second air pressure regulating mechanism 52, an air pressure chamber 53, a piston 54, a traction rope 55, a connecting rod, a rotating shaft 56, a gripper 60, and a tension rope 57. The second air pressure regulating mechanism 52 is installed at one end of the fourth rotating arm 51, and the other end of the fourth rotating arm 51 is installed on the robot body 1. The bottom of the second air pressure regulating mechanism 52 is connected to the sealed air pressure chamber 53, which is composed of a hollow circular tube and a piston 54. The upper part of the piston 54 constitutes a closed space. The air pressure in the closed space is adjusted by the second air pressure regulating mechanism 52. Air pressure allows the piston 54 to move freely up and down; two traction ropes 55 are connected below the piston 54, and the other ends of the two traction ropes 55 are symmetrically installed at the two ends of the horizontal arm 58 of the gripper 60; the lower end of the air pressure chamber 53 is connected to the connecting rod, and the end of the connecting rod is connected to the two grippers 60 through a rotating shaft 56. The vertical arms of the grippers 60 on both sides are pulled by a tension rope 57. The tension rope 57 can provide an inward pulling force when the grippers 60 are opened, which is beneficial for the grippers 60 to grasp obstacles; an ultrasonic crusher 59 is installed at the bottom of the connecting rod, wherein the connecting rod can be an iron rod. During the movement of the robot body 1, when it finds obstacles such as branches whose length exceeds the pipe diameter or stones whose outline diameter exceeds 10 cm, the air pressure in the upper air pressure chamber 53 of the piston 54 is reduced to move the piston 54 upward, and the traction rope 55 is pulled to make the grippers 60 on both sides open outward along the rotating shaft 56. When the grippers 60 completely grasp the obstacle, the decompression is stopped, the obstacle is fixed, and the ultrasonic crusher 59 is turned on to crush the obstacle.

[0040] Example 2

[0041] Based on a pumped-storage water pipeline siltation identification device described in Example 1, this embodiment also provides a pumped-storage water pipeline siltation measurement method, which uses the visual identification of siltation in the waterway system and other technologies for measurement, wherein the visual identification of siltation in the waterway system refers to using a high-definition camera 22 to scan the inner wall of the waterway during the robot's movement to form a full-section color photo; the picture is subjected to graphic processing, feature extraction, classification identification, and area calculation to obtain parameter data such as the siltation distribution position, area, volume, and weight of each siltation area. The measurement method specifically includes the following steps:

[0042] Step S1, using the visual recognition module 2 to scan the waterway wall and form an initial image, and based on the initial image, obtain the silt coverage position and area data.

[0043] In this embodiment, in step S1, a robot body 1 with functions such as visual recognition is placed in the waterway or at the waterway outlet, and the robot body 1 is controlled to move at a constant speed along the axis of the pipe in the waterway. The 360-degree high-definition camera carried by the robot is used to scan the waterway wall to form an initial image, and the visual recognition technology is used to extract the silt coverage position and area; after obtaining the required data, the robot body 1 returns along the original route.

[0044] Step S2, performing graphic processing, feature extraction, classification recognition and area calculation on the acquired data to obtain the silt volume of each silt area, and adding up the silt volumes to obtain the total silt volume in the waterway pipe wall.

[0045] In this embodiment, in step S2, the process of area calculation is as follows: after traveling a certain distance, for example, taking a distance of 10 m as a section, the ultrasonic probe 32 carried by the robot body 1 is used to measure the thickness h of the silt in each section. j , and calculate the silt distribution area S of each siltation area (that is, each section) j =0.25πD 2 Ln j / N; where D is the average diameter of the water pipe, in meters; L is the total length of the water pipe, in meters; n j represents the number of pixel units, and N represents the total number of pixel units. The corresponding silt volume V j =V j =S j ×h j ; The total volume is multiple V j The sum.

[0046] In this embodiment, in step S2, the process of graphics processing, feature extraction, and classification recognition is as follows:

[0047] The first step is to grayscale the spliced ​​full-section color photos; using the closed characteristics of the outer surface of the silted area, combined with manual correction to remove some areas formed by obstacles such as branches and stones, further correct the grayscale image to obtain the pixel unit brightness value b n ; Read the total number of pixel units N in the image; the total length of the water pipe is L, the average diameter of the water pipe is D, and the area of ​​a single pixel unit is 0.25πD 2 L / N.

[0048] The second step is to classify and identify the three materials of waterway wall, water and sand based on the brightness difference of the inner wall material of the waterway, the accumulated water and the silt in the grayscale image, and the brightness value of the pixel unit. Considering that the brightness value of the waterway wall is relatively fixed, it is set as b 管 ; The brightness values ​​of water and silt are difficult to distinguish, so the brightness value of water is set to b 水, the brightness value of dry sand is set to b 沙 , then the brightness value of the silt is b 淤 Between 水 and b 沙 Between, take m = b 水 / b 沙 .

[0049] The third step is to convert the pixel unit brightness value b in the grayscale image obtained in the first step n Convert to a unit value g in the range 0-1 n ; The darkest part is 0, which represents the brightness unit value of the waterway wall pixel unit; the brightest part is 1, which represents the brightness unit value of the dry sand pixel unit; the converted brightness value of the i-th pixel unit is g ni =(b ni -b 管 ) / (b 沙- b 管 ), b ni is the actual brightness value; if 1>g ni >m, it is judged as silt, if m>g ni >0, it is judged as water accumulation.

[0050] Step 4: Divide the total length of the waterway into sections according to a certain distance. For example, the certain distance is set to 10m, and the total number of sections is set to f. Count f according to step 3. j The segment meets 1≥g ni >m number of pixel units n j , then f j The siltation area S of the section j =0.25πD 2 Ln j / N; the equivalent volume of silt in each section is V j =S j h j .

[0051] Step 5: Determine the location of the silt distribution based on the robot's travel distance; and calculate the silt weight G in each section j =γ 淤 V j , add the weight of silt in each section to the total weight of silt in the waterway of the pumped storage power station G = ∑G j .

[0052] Furthermore, when the robot reaches the other end of the waterway, i.e. the end point, it completes the measurement of the silt distribution position, area, and volume indicators in the waterway; when the robot returns, it completes the thickness measurement and obstacle clearance work in sections.

[0053] Step S3: When the robot body 1 returns, the silt measurement module 3 measures the silt thickness h j, and based on the in-situ silt sampling module 4, randomly obtain multiple groups of silt samples and measure the average bulk density γ of the silt 淤 And the total weight of silt in the waterway wall.

[0054] In this embodiment, in step S3, illustratively, during the return of the robot body 1, three in-situ samplers 42 carried by the robot body 1 are used to randomly take three groups of silt samples, and the wet bulk density γ of the three groups of silt is measured. 1、 γ 2、 γ 3 , take the average value to get γ 淤 At the same time, when encountering obstacles such as branches longer than the pipe diameter or stones with an outline diameter exceeding 10 cm during travel, the obstacles are fixed by the grabbing mechanism and ultrasonically crushed. In addition, the robot body 1 can analyze the composition of the silt in the laboratory based on the collected silt samples.

[0055] Specifically, the calculation process is: j Average bulk density of silt sampled in the corresponding section γ 淤 =(γ 1 +γ 2 +γ 3 ) / 3; where γ 1 , γ 2 , γ 3 Corresponding to any three groups of silt wet density in the section; f j Section silt weight G j =γ 淤 V j ;f j The total weight of silt in the waterway corresponding to the section G = ∑G j .

[0056] This method uses visual recognition technology to detect the edge of the scanned image inside the waterway wall, extracts the outer contour edge of the silted sand, and then quickly obtains the distribution area of ​​the attached silt in the waterway. The silt distribution position is determined according to the robot's travel distance, and the wet bulk density of the silt is measured using an independently developed in-situ silt sampler. Finally, the amount of silt in the waterway is obtained, and ultrasonic stone crushing and silting treatment is used for obstacles such as large stones. This method has fast detection speed and low cost, and has important application value and practical significance for the safe and efficient operation of pumped storage power stations, as well as waterway silt detection and waterway maintenance.

[0057] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A pumped storage water pipeline siltation identification device, characterized in that: It includes the robot body, visual recognition module, silt measurement module, in-situ silt sampling module and obstacle removal module. The visual recognition module, silt measurement module, in-situ silt sampling module and obstacle removal module are all installed on the robot body, the robot body is connected to an external terminal device, and the data detected by the visual recognition module, silt measurement module, in-situ silt sampling module and obstacle removal module are all transmitted to the terminal device for processing.

2. A pumped storage water pipeline siltation identification device according to claim 1, characterized in that: The visual recognition module includes a first rotating arm and a camera mechanism, and the camera mechanism is installed at the end of the first rotating arm, wherein the camera mechanism includes a camera and a first wireless transmission unit. When the robot body is in the moving process, the camera that moves with the robot body transmits the image data captured during the movement in real time to an external communication connected terminal device through the first wireless transmission unit.

3. A pumped storage water pipeline siltation identification device according to claim 2, characterized in that: The silt measurement module includes a second rotating arm, an ultrasonic probe and a second wireless transmission unit. The ultrasonic probe is installed at the end of the second rotating arm, and the silt thickness data randomly detected by the ultrasonic probe is transmitted to the terminal device in real time through the second wireless transmission unit.

4. A pumped storage water pipeline siltation identification device according to claim 1, characterized in that: The in-situ silt sampling module comprises a third rotating arm and an in-situ sampler, wherein the in-situ sampler is mounted on the top of the third rotating arm, and the bottom of the third rotating arm is mounted on the robot body.

5. A pumped storage water pipeline siltation identification device according to claim 1, characterized in that: The in-situ sampler includes an inner sleeve, an outer sleeve, a top cover, a packaging chassis and a first air pressure regulating mechanism; wherein the tops of the inner sleeve and the outer sleeve are welded together through the top cover, and an air pressure gasket is provided between the inner sleeve and the outer sleeve, the packaging chassis is welded to the bottom of the outer sleeve, and the first air pressure regulating mechanism is arranged at the upper end of the top cover.

6. A pumped storage water pipeline siltation identification device according to claim 5, characterized in that: The packaging chassis comprises a hollow disk, a support spring, a latch spring and a sealing iron sheet; the latch spring and the sealing iron sheet are arranged inside the hollow disk, the support spring is arranged outside the hollow disk, and one end of the support spring is connected to the hollow disk, and the other end is connected to the air pressure gasket; One end of the latch spring is connected to the inside of the hollow disk, and the other end is connected to the sealing iron sheet.

7. A pumped storage water pipeline siltation identification device according to claim 1, characterized in that: The obstacle removal module includes a fourth rotating arm, a grasping mechanism and an ultrasonic crusher; wherein the grasping mechanism includes a second air pressure regulating mechanism, the second air pressure regulating mechanism is installed at one end of the fourth rotating arm, and the other end of the fourth rotating arm is installed on the robot body; the ultrasonic crusher is installed at the lower end of the fourth rotating arm.

8. A method for measuring the amount of siltation in a pumped storage water pipeline, characterized in that: Using the pumped storage water pipeline siltation identification device according to any one of claims 1 to 7, the method steps include: Step S1, using a visual recognition module to scan the waterway wall and form an initial image, and obtaining silt coverage position and area data based on the initial image; Step S2, performing graphic processing, feature extraction, classification recognition and area calculation on the acquired data to obtain the silt volume of each silt area, and adding up the silt volumes to obtain the total silt volume in the waterway pipe wall; Step S3: During the return process of the robot body, the thickness of the silt is measured by the silt measurement module. j , and randomly obtain multiple groups of silt samples based on the in-situ silt sampling module to measure the average bulk density of silt γ 淤 And the total weight of silt in the waterway wall.

9. A method for measuring siltation in a pumped storage water pipeline according to claim 8, characterized in that: In step S2, the area calculation process is as follows: the thickness of the silt in each section is measured based on the silt measurement module. j , and calculate the silt distribution area S of each siltation area j =0.25πD 2 Ln j / N; where D is the average diameter of the water pipe, in meters; L is the total length of the water pipe, in meters; n j Represents the number of pixel units; N represents the total number of pixel units; Volume of each silt V j =V j =S j ×h j ; The total volume of silt is multiple V j The sum.

10. A method for measuring siltation in a pumped storage water pipeline according to claim 9, characterized in that: Average bulk density of siltγ 淤 =(γ1+γ2+γ3) / 3; where γ1, γ2, and γ3 represent the wet bulk density of any three groups of silt in the section; Silt weight G j =γ 淤 V j ; Total weight of silt G = ∑G j .

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