A device for detecting underwater sediment thickness of a hydropower station

Abstract

The application relates to the technical field of detection devices, in particular to a water undercurrent deposit thickness detection device for a hydropower station. The device comprises a rocker arm system, a detection arm connected to the rocker arm system, two rollers rotatably installed on the detection arm through bearings, a first hanging pipe and a second hanging pipe respectively wound on the two rollers, a servo motor fixedly installed on the detection arm, a synchronous belt drivingly connected to the output shaft of the servo motor, the two rollers drivingly connected with the synchronous belt, a detection bin, the bottom ends of the first hanging pipe and the second hanging pipe fixedly connected with the detection bin, a sensor module fixedly arranged on the detection bin and slidably connected with a moving slide frame in the axial direction, and two straight-line push cylinders installed between the moving slide frame and the detection bin. The device has the beneficial effects that multi-point synchronous sampling can be completed at the same measuring point, multi-group pressure and displacement detection data can be mutually checked, and the risk of single-point detection distortion caused by local deposit mutation and hard inclusions is reduced.

Description

Technical Field

[0001] This invention relates to the field of detection device technology, specifically to a device for detecting the thickness of underwater silt deposits in hydropower stations. Background Technology

[0002] Siltation in hydropower station reservoirs can encroach on effective storage capacity, threatening flood discharge and generator safety. Detecting underwater siltation thickness and density is a crucial aspect of reservoir operation and maintenance. While penetration-type siltation detection devices are widely used, existing equipment still has several key shortcomings: Existing penetration-type siltation detection devices generally lack underwater dynamic attitude leveling capabilities. During underwater operations, the lateral water flow in the reservoir impacts the detection chamber, and the attitude is maintained solely by fixed self-weight or fixed counterweight. The counterweight cannot adaptively adjust the torque according to the real-time tilt angle of the chamber and the water flow conditions, making the detection chamber prone to tilting and deflection. Consequently, the penetration probe deviates and penetrates the siltation layer at an angle. The oblique penetration displacement is greater than the actual vertical thickness of the siltation layer, introducing systematic measurement errors. At the same time, most devices adopt a single-point penetration probe detection mode, which cannot carry out multi-point synchronous sampling at the same measurement point. The lack of a mechanism for cross-verification of multiple sets of measured data makes them susceptible to the influence of factors such as local silt mixed with stones and sudden changes in local siltation, resulting in distorted single-point detection results. In addition, most traditional equipment separates physical penetration testing and ultrasonic non-contact testing. The two testing devices are deployed separately and cannot be integrated into the same equipment to complete synchronous data acquisition. This makes it impossible to achieve real-time comparison and calibration of physical penetration test data and ultrasonic detection data. Testing operations need to be carried out in two separate operations, which is cumbersome, difficult to match test points, and difficult to fuse and compare data. Both testing efficiency and accuracy are limited. Based on this, the present invention provides a device for detecting the thickness of underwater siltation in hydropower stations to solve the problems mentioned in the background art. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing an underwater silt thickness detection device for hydropower stations. This solves the problems of existing penetration-type silt detection devices, such as lack of underwater dynamic attitude leveling capability, easy tilting of the detection chamber due to water flow impact, difficulty in achieving simultaneous multi-point detection and multi-data verification at the same measuring point, inability to integrate physical penetration detection and ultrasonic detection, and limited detection accuracy and operation efficiency.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A device for detecting underwater siltation thickness in hydropower stations, comprising a rocker arm system on which a detection arm is connected: It also includes two rollers, both of which are rotatably mounted on the detection arm via bearings. The first and second hanging tubes are respectively wound on the two rollers. A servo motor is fixedly mounted on the detection arm. A synchronous belt is driven to the output shaft of the servo motor. Both rollers are driven to the synchronous belt. The bottom ends of the inspection chamber, the first hanging pipe and the second hanging pipe are fixedly connected to the inspection chamber. The inspection chamber is equipped with a sensor module and is slidably connected to a movable slide along the axial direction. Two linear push cylinders are installed between the movable slide and the inspection chamber. The outer periphery of the inspection chamber is arranged in a circular array and is alternately hinged with multiple measuring arms and multiple counterweight arms. The measuring arms and counterweight arms are all hinged to the movable slide with an upper connecting rod. The counterweight arm is equipped with a dynamic counterweight system, and the measuring arm is equipped with a measuring system. The measurement system includes a force-measuring ring, a floating feedback seat, and a rotating shaft rotatably mounted on the measuring arm. Two pressure sensors are installed between the force-measuring ring and the measuring arm. A feedback spring is installed between the floating feedback seat and the force-measuring ring. A penetration probe is rotatably mounted on the floating feedback seat. The penetration probe is connected to the rotating shaft. A auger blade is fixedly mounted on the penetration probe. The power system is configured to drive multiple rotating shafts to rotate synchronously; An ultrasonic measuring instrument is fixedly installed at the bottom of the inspection chamber; The central controller communicates with the pressure sensor, ultrasonic measuring instrument, and sensor module.

[0005] Based on the above technical solution, the present invention can be further improved as follows.

[0006] As a preferred technical solution of the present invention, the rocker arm system includes a fixed frame, on which a first rocker arm is hinged, and at the end of the first rocker arm a second rocker arm is hinged, and at the end of the second rocker arm a detection arm is hinged. A set of adjusting push cylinders are hinged between the first rocker arm and the fixed frame, between the second rocker arm and the first rocker arm, and between the detection arm and the second rocker arm. The fixed frame is provided with two sets of positioning mounting holes.

[0007] As a preferred technical solution of the present invention, the dynamic counterweight system includes a liquid filling chamber opened in a roller, a liquid distribution valve pipe rotatably connected to the liquid filling chamber, the liquid distribution valve pipe being fixedly connected to the detection arm, a first flow channel communicating with the liquid filling chamber being opened in the first hanging pipe, a liquid distribution chamber being opened in the detection chamber, the other end of the first flow channel being fixedly connected to the liquid distribution chamber, a counterweight cylinder being provided on each counterweight arm, a first corrugated connecting pipe being connected to the counterweight cylinder, the other end of the first corrugated connecting pipe being fixedly connected to the liquid distribution chamber, a threaded mounting rod being fixedly installed on the top of the counterweight cylinder, a plurality of counterweight blocks being sleeved on the threaded mounting rod, a locking nut being threadedly installed on the top of the threaded mounting rod, and an electromagnetic drain valve being connected to the bottom of the counterweight cylinder.

[0008] As a preferred technical solution of the present invention, the sensor module includes a pressure depth gauge, a triaxial accelerometer and an attitude sensor fixedly installed on the inspection chamber, and a water level probe is installed on the detection arm. The data terminals of the pressure depth gauge, the triaxial accelerometer, the attitude sensor and the water level probe are all connected to the central controller for communication.

[0009] As a preferred technical solution of the present invention, the inside of the rotating shaft is provided with a transmission groove, and the top end of the penetrating probe is provided with a hexagonal transmission section that is slidably connected to the transmission groove. The cross-sections of the hexagonal transmission section and the transmission groove are both regular hexagons.

[0010] As a preferred technical solution of the present invention, the power system includes a high-pressure spray chamber opened in the inspection chamber, a second flow channel opened in the second hanging pipe, and a pressurizing chamber opened in another roller. The end of the second flow channel is rotatably connected to a high-pressure water inlet pipe. The outer periphery of the high-pressure water inlet pipe is fixedly connected to the detection arm. The other end of the second flow channel is fixedly connected to the high-pressure spray chamber. A pump cylinder is fixedly installed on each of the measuring arms. A drain pipe and a second corrugated connecting pipe are respectively connected to the pump cylinder. The other end of the second corrugated connecting pipe is fixedly connected to the high-pressure spray chamber. Power blades are arrayed on the rotating shaft at positions corresponding to the inner side of the pump cylinder.

[0011] As a preferred technical solution of the present invention, a linear displacement sensor is fixedly installed on each pump cylinder. The linear displacement sensor is coaxially arranged with the transmission groove, the detection end of the linear displacement sensor is facing the hexagonal transmission section, and the data end of the linear displacement sensor is connected to the central controller.

[0012] As a preferred technical solution of the present invention, the bottom end of the penetration probe is a pointed cone structure, and two guide grooves are provided on the inspection chamber, and the movable slide is slidably connected to the two guide grooves.

[0013] As a preferred technical solution of the present invention, each of the penetration probes is provided with an array of reinforcing ribs on its exterior.

[0014] The beneficial effects of this invention are: 1. This invention sets up a dynamic counterweight system in conjunction with an attitude sensor to form a closed-loop control. It can adaptively adjust the water volume of each counterweight cylinder according to the underwater attitude and water flow conditions, and coordinate with the counterweight blocks to achieve combined counterweight torque adjustment. This improves the problem of the test chamber tilting caused by water flow impact, ensures that the penetration probe remains as vertical as possible when penetrating the silt layer, and reduces the systematic measurement error introduced by the chamber tilt. At the same time, the linkage mechanism drives multiple sets of measuring arms to open synchronously, which can complete multi-point synchronous sampling at the same measuring point. Multiple sets of pressure and displacement detection data can be cross-checked, reducing the risk of single-point detection distortion caused by sudden changes in local siltation and hard inclusions.

[0015] 2. This device integrates physical penetration measurement and ultrasonic measurement in the same inspection chamber. Both methods can collect data simultaneously, facilitating data comparison and calibration by the central controller, eliminating the need for separate operations. The equipment uses a hydraulically driven rotating shaft, eliminating the need for a drive motor underwater and avoiding the risk of motor seal failure. The rocker arm, pipe lowering, attitude leveling, and multi-penetration probe drilling mechanisms work together to improve the overall reliability of underwater siltation detection in hydropower stations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an underwater siltation thickness detection device for hydropower stations according to the present invention; Figure 2 This is a schematic diagram of the detection arm and adjusting cylinder of the present invention; Figure 3 This is a schematic diagram of the structure of the central controller and the second hanging pipe of the present invention; Figure 4 This is a schematic diagram of the structure of the counterweight cylinder and the second corrugated connecting pipe of the present invention; Figure 5 This is a schematic diagram of the threaded mounting rod and counterweight of the present invention; Figure 6 This is a schematic diagram of the structure of the second corrugated pipe and the force measuring ring of the present invention; Figure 7 This is a schematic diagram of the structure of the rotating shaft and hexagonal transmission section of the present invention; Figure 8 This is a schematic diagram of the structure of the inspection chamber and sensor module of the present invention; Figure 9 This is a schematic cross-sectional view of the first and second flow channels of the present invention. Figure 10 This is a schematic cross-sectional view of the filling chamber and the pressurizing chamber of the present invention.

[0017] The attached diagram lists the components represented by each number as follows: 1. Detection arm; 2. Roller; 3. Inspection chamber; 4. Ultrasonic measuring instrument; 5. Sensor module; 6. Central controller; 101. Fixing frame; 102. First rocker arm; 103. Second rocker arm; 104. Adjusting push cylinder; 105. Positioning mounting hole; 201. First hanging pipe; 202. Second hanging pipe; 203. Servo motor; 204. Filling chamber; 205. Liquid distribution valve pipe; 206. First flow channel; 207. Liquid distribution chamber; 208. Counterweight cylinder; 209. First corrugated connecting pipe; 210. Threaded mounting rod; 211. Counterweight block; 301. Moving slide; 302. Linear... 303. Push cylinder; 304. Measuring arm; 305. Counterweight arm; 306. Pressurizing chamber; 307. Upper connecting rod; 308. Force measuring ring; 309. Floating feedback seat; 310. Rotating shaft; 311. Pump barrel; 312. Pressure sensor; 313. Feedback spring; 314. Penetration probe; 315. Auger blade; 316. High-pressure spray chamber; 317. Second flow channel; 318. High-pressure water inlet pipe; 319. Drain pipe; 320. Second corrugated connecting pipe; 321. Power blade; 322. Linear displacement sensor; 323. Hexagonal transmission section; 324. Reinforcing rib; 501. Water level probe. Detailed Implementation

[0018] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0019] The present invention provides the following preferred embodiments. like Figure 1-10 As shown, a device for detecting underwater siltation thickness in a hydropower station includes a rocker arm system on which a detection arm 1 is connected. In this embodiment, the rocker arm system includes a fixed frame 101, on which a first rocker arm 102 is hinged. A second rocker arm 103 is hinged to the end of the first rocker arm 102. The end of the second rocker arm 103 is hinged to the detection arm 1. A set of adjusting push cylinders 104 are hinged between the first rocker arm 102 and the fixed frame 101, between the second rocker arm 103 and the first rocker arm 102, and between the detection arm 1 and the second rocker arm 103. Two sets of positioning mounting holes 105 are provided on the fixed frame 101. The fixing frame 101 is made of Q355B low alloy high strength steel plate welded together. The two sets of positioning and mounting holes 105 are set with a diameter of 32mm, which can be adapted to the bolt base installation of hydropower station dam top platform, shore base or survey vessel deck. During operation, the fixed frame 101 is fixed in the designated measurement platform or related mobile measurement platform of the hydropower station through the positioning connector. The three sets of adjusting push cylinders 104 independently extend and retract to drive the first rocker arm 102 and the second rocker arm 103 to complete multi-degree-of-freedom amplitude change, which drives the end detection arm 1 to complete the horizontal displacement and pitch angle adjustment. This can realize cross-regional measurement at different points in front of the dam, and also compensate for the position deviation caused by the floating of the hull and the settlement of the platform. After the rocker arm system delivers the detection arm 1 to the measurement point, the servo motor 203 drives the roller 2 to lower the inspection chamber 3. The rocker arm system is responsible for horizontal positioning, and the roller 2 is responsible for vertical depth lowering. The two work together to achieve coarse positioning of the measurement point, providing a positional basis for subsequent precise underwater siltation detection. It also includes two rollers 2, both of which are rotatably mounted on the detection arm 1 via bearings. The first hanging tube 201 and the second hanging tube 202 are respectively wound on the two rollers 2. A servo motor 203 is fixedly mounted on the detection arm 1. A synchronous belt is driven to the output shaft of the servo motor 203. Both rollers 2 are driven to the synchronous belt. The servo motor 203 is waterproof, and the synchronous belt is a polyurethane toothed synchronous belt with a built-in steel wire core. The first and second lifting pipes 201 and 202 are pressure-resistant composite hoses with a water-resistant and corrosion-resistant nitrile rubber inner layer, a multi-layer steel wire braided reinforcement layer in the middle layer, and a polyurethane wear-resistant protective layer on the outer layer. The nominal inner diameter of the first and second lifting pipes 201 and 202 is 25mm, the maximum pressure is 3.5MPa, and the maximum length of a single lifting pipe can be lowered is 80m, which is suitable for most medium and large-sized hydropower stations with deep water conditions. The servo motor 203 drives the synchronous belt via the reducer to drive the two rollers 2 to rotate in the same direction and at the same speed, so as to realize the synchronous raising and lowering of the first hanging pipe 201 and the second hanging pipe 202, thereby controlling the overall underwater lowering depth and lifting and recovery of the inspection chamber 3. The bottom ends of the first lifting pipe 201 and the second lifting pipe 202 are fixedly connected to the inspection chamber 3. The inspection chamber 3 is a cylindrical pressure-resistant chamber, and the main body material is titanium alloy. The sensor module 5 is fixedly installed on the inspection chamber 3 and a movable slide 301 is slidably connected along the axis. Two linear push cylinders 302 are installed between the movable slide 301 and the inspection chamber 3. The linear push cylinders 302 are waterproof servo electric push cylinders with a rated thrust of 12kN and a stroke of 160mm. In this embodiment, two guide grooves are provided on the inspection chamber 3, and the movable slide 301 is slidably connected to the two guide grooves. The outer periphery of the inspection chamber 3 is arranged in a circular array and is alternately hinged with multiple measuring arms 303 and multiple counterweight arms 304. In this embodiment, three sets of measuring arms 303 and three sets of counterweight arms 304 are preferably arranged alternately along the outer periphery of the inspection chamber 3 at 60°. The measuring arm 303 and the counterweight arm 304 are all hinged to the movable slide 301 by an upper connecting rod 306. The counterweight arm 304 is equipped with a dynamic counterweight system, and the measuring arm 303 is equipped with a measuring system. Two linear push cylinders 302 synchronously drive the moving slide 301 to slide axially up and down along the guide groove; When the movable carriage 301 slides, the linkage mechanism composed of the upper connecting rod 306 synchronously drives all measuring arms 303 and counterweight arms 304 to open outward or retract inward. During the lowering of the inspection chamber 3, the measuring arm 303 and the counterweight arm 304 retract and fit against the outer wall of the inspection chamber 3 to reduce the underwater flow area and reduce the impact and disturbance of the water flow. After reaching the measurement position above the silt layer, the linear push cylinder 302 drives the moving slide 301 to descend, and the linkage mechanism drives the measuring arm 303 and the counterweight arm 304 to simultaneously extend outward to the horizontal working posture. The multi-arm circular alternating arrangement enables simultaneous sampling and measurement at multiple points at the same measuring point, avoiding single-point measurement errors caused by local siltation anomalies. The linkage mechanism enables all measuring arms 303 and counterweight arms 304 to move synchronously, ensuring consistent opening angles. After the counterweight arm 304 is extended, the dynamic counterweight system takes effect. After the measuring arm 303 is extended, the measuring system enters the work preparation state, realizing the synchronous completion of multiple mechanism posture conversions with one set of power. In this embodiment, the measurement system includes a force-measuring ring 307, a floating feedback seat 308, and a rotating shaft 309 rotatably mounted on the measuring arm 303. Two pressure sensors 311 are installed between the force-measuring ring 307 and the measuring arm 303. A feedback spring 312 is installed between the floating feedback seat 308 and the force-measuring ring 307. A penetration probe 313 is rotatably mounted on the floating feedback seat 308. The penetration probe 313 is connected to the rotating shaft 309. A spiral drill blade 314 is fixedly mounted on the penetration probe 313. The bottom end of the penetration probe 313 is a pointed cone structure. Multiple reinforcing ribs 323 are arrayed on the outside of each penetration probe 313. In this embodiment, a transmission groove is provided inside the rotating shaft 309, and a hexagonal transmission section 322 that is slidably connected to the transmission groove is provided at the top of the probe 313. The cross-sections of the hexagonal transmission section 322 and the transmission groove are both regular hexagons. The power system drives the rotating shaft 309 to rotate. The rotating shaft 309 transmits torque through the regular hexagonal transmission slot and the hexagonal transmission section 322 at the top of the penetration probe 313, thereby driving the penetration probe 313 and the spiral drill blade 314 to rotate synchronously. When the penetration probe 313 contacts the silt layer downwards, the pointed tip cuts into the silt, the auger blade 314 rotates and breaks up the silt layer, the penetration probe 313 is subjected to the upward reaction force of the silt layer, which pushes the floating feedback seat 308 to move upwards and compresses the feedback spring 312. The reaction force of the floating feedback seat 308 is transmitted to the force measuring ring 307, and the force measuring ring 307 squeezes the two pressure sensors 311. Pressure sensor 311 collects pressure signals and transmits them to central controller 6; The greater the thickness of the silt and the higher the hardness of the silted soil, the greater the upward reaction force of the penetration probe 313 and the higher the pressure value collected by the pressure sensor 311. Combined with the downward penetration displacement of the penetration probe 313 obtained by the linear displacement sensor 321, the thickness of the silt layer and the density parameters of the silted soil can be calculated. The regular hexagonal sliding transmission structure can reliably transmit rotational torque while preserving the axial floating space of the penetration probe 313; The rotation of the auger blade 314 can break through the hard inclusions inside the silt layer and prevent the penetration probe 313 from being stuck by rocks. The reinforcing rib 323 on the outside of the penetration probe 313 improves the bending resistance of the penetration probe 313, reduces the bending deformation of the penetration probe 313 when penetrating silt underwater, and ensures the accuracy of displacement measurement. The dual pressure sensors 311 are redundantly configured and can cross-check each other, improving the reliability of detection in harsh underwater environments. The dynamic counterweight system includes a liquid filling chamber 204 opened in a roller 2, a liquid distribution valve pipe 205 rotatably connected to the liquid filling chamber 204, the liquid distribution valve pipe 205 being fixedly connected to the detection arm 1, a first flow channel 206 communicating with the liquid filling chamber 204 being opened in the first hanging pipe 201, a liquid distribution chamber 207 being opened in the detection chamber 3, the other end of the first flow channel 206 being fixedly connected to the liquid distribution chamber 207, and a counterweight cylinder 208 being provided on each counterweight arm 304, a first corrugated connecting pipe 209 being connected to the counterweight cylinder 208, the other end of the first corrugated connecting pipe 209 being fixedly connected to the liquid distribution chamber 207; Each first corrugated connector 209 is equipped with a branch control valve; A threaded mounting rod 210 is fixedly installed on the top of the counterweight cylinder 208. Multiple counterweight blocks 211 are sleeved on the threaded mounting rod 210. A locking nut is threaded on the top of the threaded mounting rod 210. An electromagnetic drain valve is connected to the bottom of the counterweight cylinder 208. External water supply enters the liquid filling chamber 204 inside the roller 2 through the liquid distribution valve pipe 205, and is transported to the liquid distribution chamber 207 inside the inspection chamber 3 through the first flow channel 206 inside the first hanging pipe 201. Then, high-pressure water is filled into each counterweight cylinder 208 through the first corrugated connecting pipe 209. The counterweight cylinder 208 can simultaneously stack tungsten alloy counterweights 211 and fill with water to achieve a combined counterweight. The central controller 6 can adjust the amount of water filling the counterweight cylinder 208 and change the total weight of the counterweight arm 304 based on the posture and water flow velocity data of the inspection chamber 3 fed back by the sensor module 5, thereby leveling the posture of the entire inspection chamber 3 and counteracting the tilt of the inspection chamber 3 caused by the impact of the water flow on one side. After the measurement is completed, open the electromagnetic drain valve at the bottom of the counterweight cylinder 208 to drain the water inside the counterweight cylinder 208, reduce the overall weight, and make it easier to recover the equipment upwards. After the counterweight arm 304 is extended outward, the counterweight cylinder 208 is in a horizontal low position, and the counterweight torque is maximized after water is filled. After the counterweight arm 304 is retracted, the counterweight cylinder 208 is raised to reduce the lifting resistance. This system solves the problem of underwater water flow disturbance causing the inspection chamber 3 to tilt and swing, ensuring that the penetration probe 313 penetrates vertically downward into the silt layer, and avoiding the inaccuracy of silt thickness measurement caused by the tilt of the penetration probe 313. The power system is configured to drive multiple rotating shafts 309 to rotate synchronously; The power system includes a high-pressure spray chamber 315 located in the inspection chamber 3, a second flow channel 316 located in the second hanging pipe 202, and a pressurizing chamber 305 located in another roller 2. The end of the second flow channel 316 is rotatably connected to a high-pressure water inlet pipe 317. The outer periphery of the high-pressure water inlet pipe 317 is fixedly connected to the detection arm 1. The other end of the second flow channel 316 is fixedly connected to the high-pressure spray chamber 315. A pump cylinder 310 is fixedly installed on each measuring arm 303. A drain pipe 318 and a second corrugated connecting pipe 319 are respectively connected to the pump cylinder 310. The other end of the second corrugated connecting pipe 319 is fixedly connected to the high-pressure spray chamber 315. Power blades 320 are arrayed on the rotating shaft 309 at positions corresponding to the inner side of the pump cylinder 310. Each pump cylinder 310 is fixedly installed with a linear displacement sensor 321. The linear displacement sensor 321 is coaxially arranged with the transmission groove. The detection end of the linear displacement sensor 321 is directly facing the hexagonal transmission section 322. The data end of the linear displacement sensor 321 is connected to the central controller 6. This device adopts a hydraulic drive method. High-pressure water flow drives the power blade 320 to rotate the rotating shaft 309, which in turn drives the penetration probe 313 and the auger blade 314 to rotate. All rotating shafts 309 are synchronously driven by high-pressure water circuit to ensure that multiple sets of penetration probes 313 rotate synchronously. The linear displacement sensor 321 is directly opposite the hexagonal transmission section at the top of the penetration probe 313. It collects the upward floating displacement of the penetration probe 313 in real time. The displacement data collected by the linear displacement sensor 321 and the penetration reaction force data collected by the pressure sensor 311 are sent to the central controller 6. Combined with the algorithm, the actual thickness of the silt layer and the density of the silt can be obtained. The power system and the measurement system are linked. The high-pressure water circuit provides rotational power to drive the penetration probe 313 to rotate and drill into the silt layer. On the other hand, the penetration probe 313 is subjected to the reaction force of the silt layer and undergoes axial displacement. The linear displacement sensor 321 captures the displacement, and the pressure sensor 311 captures the penetration resistance, so as to realize the simultaneous operation of rotary drilling, displacement acquisition and pressure acquisition. An ultrasonic measuring instrument 4 is fixedly installed at the bottom of the inspection chamber 3, and a water level probe 501 is installed on the detection arm 1; The central controller 6 is communicatively connected to the pressure sensor 311, the ultrasonic measuring instrument 4, and the sensor module 5.

[0020] The sensor module 5 includes a pressure depth gauge, a triaxial accelerometer, and an attitude sensor, all of which are fixedly installed on the inspection chamber 3. The data terminals of the pressure depth gauge, the triaxial accelerometer, the attitude sensor, and the water level probe 501 are all connected to the central controller 6.

[0021] The pressure-type depth gauge records the underwater depth of chamber 3, and the water level probe 501 is used to detect the water surface height. The triaxial accelerometer monitors the vibration caused by the water flow impact. When the vibration exceeds the threshold, the central controller 6 can adjust the water volume of the dynamic counterweight system or pause the measurement and wait for the water flow to stabilize. The attitude sensor provides real-time feedback on the tilt angle of the inspection chamber 3. When the tilt angle is greater than the set threshold, the central controller 6 adjusts the water filling amount of each counterweight cylinder 208 of the dynamic counterweight system to complete the attitude correction, so that the penetration probe 313 can be kept as vertical as possible to reduce the measurement error caused by tilt. The sensor module 5 outputs data and simultaneously provides feedback parameters to the rocker arm system, the roller 2 servo motor 203, and the dynamic counterweight system, realizing closed-loop regulation of the entire device.

[0022] The working principle of this invention is as follows: During operation, the device's rocker arm system is first fixed to the dam top platform of a hydroelectric power station or the deck of a survey vessel. The adjusting cylinders 104 in the rocker arm system drive the first rocker arm 102 and the second rocker arm 103 to complete multi-degree-of-freedom amplitude changes, moving the detection arm 1 to above the target siltation measuring point for coarse horizontal positioning. Subsequently, the waterproof servo motor 203 on the detection arm 1 drives the synchronous belt to rotate the two sets of rollers 2 synchronously, causing the first lifting pipe 201 and the second lifting pipe 202 to release synchronously, lowering the retracted inspection chamber 3 to the area above the underwater siltation layer. The pressure-type deep... The depth gauge records the current underwater depth, the water level probe 501 collects water surface elevation data, the triaxial accelerometer collects water flow impact and vibration data in real time, the attitude sensor continuously monitors the roll and pitch tilt angles of the inspection chamber 3, and the central controller 6 adjusts the dynamic counterweight system to fill each counterweight cylinder 208 with different volumes of pressurized water based on the tilt signal fed back by the attitude sensor. This, together with the tungsten alloy counterweight block 211 built into the counterweight cylinder 208, achieves combined counterweight leveling. When the tilt angle of the inspection chamber 3 exceeds the set threshold, the filling and drainage volume is adjusted to counteract the impact of water flow on one side and ensure that the overall attitude of the inspection chamber 3 tends to be vertical. After the attitude leveling is completed, the linear push cylinder 302 on the inspection chamber 3 drives the moving slide 301 to slide along the guide slide groove. Through the linkage mechanism composed of the upper connecting rod 306, the measuring arm 303 and the counterweight arm 304 arranged in alternating circles are driven to open outward to the horizontal working posture. Then, the external high-pressure water source is transported to the high-pressure spray chamber 315 of the inspection chamber 3 through the high-pressure water inlet pipe 317 and the second flow channel 316 inside the second hanging pipe 202. Then, it is distributed to each pump cylinder 310 through the second corrugated connecting pipe 319. The high-pressure water flow impacts the power blades 320 inside the pump cylinder 310, driving the rotating shaft 309 to rotate synchronously. The rotating shaft 309 transmits torque through the hexagonal transmission slot and the hexagonal transmission section 322 at the top of the penetration probe 313, driving the penetration probe 313 and the spiral drill blade 314 on the penetration probe 313 to rotate synchronously and drill downwards. The pointed cone structure at the bottom of the penetration probe 313 cuts into the silt, and the spiral drill blade 314 breaks up the hard inclusions inside the silt. During the process of contacting and penetrating the silt layer, the penetration probe 313 will be subjected to the upward penetration reaction force of the silt. This reaction force drives the floating feedback seat 308 to move upward and compress the feedback spring 312. The force is further transmitted to the force measuring ring 307. The force-measuring ring 307 compresses two sets of redundantly arranged underwater pressure sensors 311. The pressure sensors 311 collect the penetration pressure borne by the penetration probe 313 in real time and transmit the pressure signal to the central controller 6. At the same time, the magnetostrictive linear displacement sensor 321, which is arranged coaxially with the transmission channel, collects the axial upward displacement of the penetration probe 313 caused by the reaction force of the silt in real time. The ultrasonic measuring instrument 4 at the bottom of the inspection chamber 3 outputs non-contact ultrasonic thickness measurement data as a comparison reference. The central controller 6 integrates the water surface elevation, measuring point depth, attitude correction parameters of the attitude sensor, vibration interference signal of the triaxial accelerometer, penetration resistance pressure value collected by the pressure sensor 311, floating displacement of the penetration probe 313 recorded by the linear displacement sensor 321, and auxiliary thickness measurement data of the ultrasonic measuring instrument 4. It eliminates the interference error caused by water flow vibration and equipment tilt, and calculates the actual underwater silt accumulation thickness and silt density at the measuring point based on the algorithm of the correspondence between penetration pressure and displacement. After a single-point measurement is completed, the high-pressure water supply is stopped, causing the penetration probe 313 to stop rotating. The electromagnetic drain valve at the bottom of the counterweight cylinder 208 is opened to discharge the water inside the cylinder. The linear push cylinder 302 drives the moving slide 301 in the reverse direction. The linkage mechanism drives the measuring arm 303 and the counterweight arm 304 to retract and reset inward. The servo motor 203 reverses to drive the winding roller 2 to wind up the first hanging pipe 201 and the second hanging pipe 202, lifting and retrieving the inspection chamber 3 as a whole. The rocker arm system is reset, completing the complete inspection operation for one measuring point.

[0023] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for detecting underwater siltation thickness in a hydropower station, comprising a rocker arm system on which a detection arm (1) is connected, characterized in that: It also includes two rollers (2), both of which are rotatably mounted on the detection arm (1) via bearings. The two rollers (2) are respectively wound with a first hanging tube (201) and a second hanging tube (202). A servo motor (203) is fixedly mounted on the detection arm (1). A synchronous belt is driven to the output shaft of the servo motor (203). Both rollers (2) are driven to the synchronous belt. The bottom ends of the first hanging pipe (201) and the second hanging pipe (202) are fixedly connected to the inspection chamber (3). A sensor module (5) is fixedly installed on the inspection chamber (3) and a movable slide (301) is slidably connected along the axial direction. Two linear push cylinders (302) are installed between the movable slide (301) and the inspection chamber (3). The outer periphery of the inspection chamber (3) is arranged in a circular array and is alternately hinged with multiple measuring arms (303) and multiple counterweight arms (304). The measuring arms (303) and the counterweight arms (304) are all hinged with an upper connecting rod (306) to the movable slide (301). A dynamic counterweight system is provided on the counterweight arm (304) and a measuring system is provided on the measuring arm (303). The measurement system includes a force-measuring ring (307), a floating feedback seat (308), and a rotating shaft (309) rotatably mounted on a measuring arm (303). Two pressure sensors (311) are installed between the force-measuring ring (307) and the measuring arm (303). A feedback spring (312) is installed between the floating feedback seat (308) and the force-measuring ring (307). A penetration probe (313) is rotatably mounted on the floating feedback seat (308). The penetration probe (313) is connected to the rotating shaft (309) in a transmission connection. A spiral drill blade (314) is fixedly mounted on the penetration probe (313). The power system is configured to drive multiple rotating shafts (309) to rotate synchronously; An ultrasonic measuring instrument (4) is fixedly installed at the bottom of the inspection chamber (3); The central controller (6) is communicatively connected to the pressure sensor (311), the ultrasonic measuring instrument (4), and the sensor module (5).

2. The underwater siltation thickness detection device for hydropower stations according to claim 1, characterized in that, The rocker arm system includes a fixed frame (101), on which a first rocker arm (102) is hinged. A second rocker arm (103) is hinged to the end of the first rocker arm (102). The end of the second rocker arm (103) is hinged to the detection arm (1). A set of adjusting push cylinders (104) are hinged between the first rocker arm (102) and the fixed frame (101), between the second rocker arm (103) and the first rocker arm (102), and between the detection arm (1) and the second rocker arm (103). Two sets of positioning mounting holes (105) are provided on the fixed frame (101).

3. The underwater siltation thickness detection device for hydropower stations according to claim 1, characterized in that, The dynamic counterweight system includes a filling chamber (204) opened in a roller (2), a liquid distribution valve pipe (205) rotatably connected to the filling chamber (204), the liquid distribution valve pipe (205) being fixedly connected to the detection arm (1), a first flow channel (206) communicating with the filling chamber (204) being opened in the first hanging pipe (201), a liquid distribution chamber (207) being opened in the detection chamber (3), the other end of the first flow channel (206) being fixedly connected to the liquid distribution chamber (207), and each counterweight arm (3) 04) Each is equipped with a counterweight cylinder (208), and the counterweight cylinder (208) is connected to a first corrugated pipe (209). The other end of the first corrugated pipe (209) is fixedly connected to the liquid distribution chamber (207). A threaded mounting rod (210) is fixedly installed on the top of the counterweight cylinder (208). Multiple counterweight blocks (211) are sleeved on the threaded mounting rod (210). A locking nut is threaded on the top of the threaded mounting rod (210). An electromagnetic drain valve is connected to the bottom of the counterweight cylinder (208).

4. The underwater siltation thickness detection device for hydropower stations according to claim 1, characterized in that, The sensor module (5) includes a pressure depth gauge, a triaxial accelerometer and an attitude sensor fixedly installed on the inspection chamber (3). A water level probe (501) is installed on the detection arm (1). The data terminals of the pressure depth gauge, the triaxial accelerometer, the attitude sensor and the water level probe (501) are all connected to the central controller (6).

5. The underwater siltation thickness detection device for hydropower stations according to claim 1, characterized in that, The rotating shaft (309) has a transmission groove inside, and the top of the penetrating probe (313) is provided with a hexagonal transmission section (322) that is slidably connected to the transmission groove. The cross-sections of the hexagonal transmission section (322) and the transmission groove are both regular hexagons.

6. The underwater siltation thickness detection device for hydropower stations according to claim 5, characterized in that, The power system includes a high-pressure spray chamber (315) located in the inspection chamber (3), a second flow channel (316) located in the second hanging pipe (202), and a pressurizing chamber (305) located in another roller (2). The end of the second flow channel (316) is rotatably connected to a high-pressure water inlet pipe (317). The outer periphery of the high-pressure water inlet pipe (317) is fixedly connected to the detection arm (1). The other end of the second flow channel (316) is fixedly connected to the high-pressure spray chamber (315). Each measuring arm (303) is fixedly equipped with a pump cylinder (310). The pump cylinder (310) is connected to a drain pipe (318) and a second corrugated connecting pipe (319). The other end of the second corrugated connecting pipe (319) is fixedly connected to the high-pressure spray chamber (315). The rotating shaft (309) is arrayed with power blades (320) at positions corresponding to the inner side of the pump cylinder (310).

7. The underwater siltation thickness detection device for hydropower stations according to claim 6, characterized in that, Each of the pump cylinders (310) is fixedly installed with a linear displacement sensor (321). The linear displacement sensor (321) is coaxially arranged with the transmission channel. The detection end of the linear displacement sensor (321) is directly opposite the hexagonal transmission section (322). The data end of the linear displacement sensor (321) is connected to the central controller (6).

8. The underwater siltation thickness detection device for hydropower stations according to claim 1, characterized in that, The bottom end of the penetration probe (313) is a pointed cone structure, and two guide grooves are provided on the inspection chamber (3). The movable slide (301) is slidably connected to the two guide grooves.

9. The underwater siltation thickness detection device for hydropower stations according to claim 1, characterized in that, Each of the aforementioned penetration probes (313) has multiple reinforcing ribs (323) mounted in an array on its exterior.

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