An intelligent inspection device for a hydropower station

Abstract

The utility model discloses a kind of intelligent inspection devices of hydropower station, it is related to hydropower station equipment inspection technical field, including fuselage, composite mobile platform, counterweight mechanism, mechanical arm, control system and communication system etc..The composite mobile platform of the design contains four-foot crawling mechanism and moving mechanism, can be moved in preset track and climb ladder, span pipe ditch, and is equipped with counterweight mechanism, can automatically adjust gravity center when slope inspection, mechanical arm is equipped with visual perception unit and environmental monitoring unit, combined with millimeter wave radar etc.Overall monitoring is realized, the device solves the problems, such as poor topographic adaptability of traditional inspection equipment, single detection dimension, lack of prediction ability, improves inspection efficiency and coverage.

Description

Technical Field

[0001] This utility model relates to the field of hydropower station equipment inspection, and in particular to an intelligent inspection device for hydropower stations. Background Technology

[0002] Currently, the inspection of hydropower station equipment mainly relies on manual labor and wheeled robots, which presents many technical bottlenecks: Poor terrain adaptability: Traditional wheeled robots cannot cross complex terrains such as stairs, uneven ground, and pipe trenches, resulting in an inspection coverage rate of less than 30% and a large number of monitoring blind spots. The detection dimensions are limited, and conventional devices mostly use independent sensors, lacking multi-parameter collaborative analysis of equipment status, resulting in a false detection rate as high as 25%. The lack of predictive capabilities means that existing technologies focus on post-fault identification and cannot predict early equipment anomalies through parameter changes.

[0003] To address the aforementioned problems, this utility model proposes an intelligent inspection device for hydropower stations. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this utility model provides an intelligent inspection device for hydropower stations, which solves the problems mentioned in the background.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an intelligent inspection device for hydropower stations, comprising a main body, and further comprising: A composite mobile platform, comprising a quadruped crawling mechanism and a moving mechanism, for moving on a preset track or climbing ladders and crossing trenches; The counterweight mechanism, fixed to the bottom of the machine body, is used to automatically adjust the center of gravity during slope inspection. A robotic arm is located at the upper middle part of the machine body, and a visual perception unit and an environmental monitoring unit are installed on the arm of the robotic arm; The control system is built into the fuselage, which also houses a communication system, and a millimeter-wave radar is installed on the front surface of the fuselage.

[0006] As a further technical solution of this utility model, the four-legged crawling mechanism is rectangularly distributed at the four corners of the machine body, and the four-legged crawling mechanism includes a fixed frame installed on the machine body. A drive motor is fixed inside the fixed frame. A crawling arm is fixed at the output end of the drive motor. A drive motor is installed at the other end of the crawling arm. The output end of the drive motor is fixed to the other end of the crawling arm. A crawling arm is also fixed at the output end of the drive motor.

[0007] As a further technical solution of this utility model, the moving mechanism includes a drive wheel distributed in a triangular shape on the lower side of the outer side of the body and a track adapter wheel fixed on the lower side of the front end of the body. A second fixed frame and a third drive motor are provided between the drive wheel and the body. The second fixed frame is installed on the outer wall of the body, and the third drive motor is installed at the bottom end of the second fixed frame. The output end of the third drive motor is fixed to the shaft of the drive wheel and is used to control the rotation of the drive wheel.

[0008] As a further technical solution of this utility model, the counterweight mechanism includes a positioning seat installed on one side of the bottom of the machine body, an electric cylinder fixed inside the positioning seat, two guide rails symmetrically installed on both sides of the bottom of the machine body at the positioning seat, limit grooves are opened on the opposite surfaces of the two guide rails, a counterweight block slides between the two guide rails at the bottom of the machine body, and the telescopic end of the electric cylinder is fixed to the middle of the side of the guide rail. The counterweight has sliders integrally provided at both ends of the corresponding limiting groove, and the counterweight is slidably connected to the limiting grooves on the inner side of the two guide rails through the two sliders.

[0009] As a further technical solution of this utility model, the visual perception unit includes an infrared thermal imager installed at one end of the robotic arm and a fixed base fixed on the robotic arm, wherein a high-speed binocular camera is installed on the fixed base.

[0010] As a further technical solution of this utility model, the environmental monitoring unit includes a temperature sensor, a humidity sensor and a laser methane detector installed on a fixed base; The mounting base is also equipped with a multi-channel acoustic array, and the upper part of the body is rectangularly equipped with multiple six-axis vibration sensors.

[0011] As a further technical solution of this utility model, the control system adopts an embedded CPU, and the communication system includes a multi-protocol gateway that supports 5G, power line carrier, and LoRa for reliable data transmission in complex environments. The internal structure of the fuselage also includes a dynamic path planning module and a battery module. The dynamic path planning module uses LiDAR SLAM combined with RFID landmark positioning.

[0012] This utility model provides an intelligent inspection device for hydropower stations, which has the following advantages compared with the prior art: 1. This design is a smart inspection device for hydropower stations. It adopts a composite mobile platform design and can switch between four-legged and track modes. It can travel on the track, climb stairs and cross pipe trenches, etc., to achieve high efficiency in inspection movement. It is also equipped with a counterweight mechanism, which can automatically adjust the center of gravity position when inspecting the dam slope to ensure stable operation under a 35° inclination condition.

[0013] 2. This design presents an intelligent inspection device for hydropower stations. Through the collaborative operation of multiple sensors, including a visual perception unit and an environmental monitoring unit, it achieves multi-parameter monitoring of equipment status, including temperature, humidity, methane, vibration, and noise. This improves the comprehensiveness and accuracy of detection and reduces the missed detection rate. Specifically, an infrared thermal imager is used to identify equipment appearance defects and temperature anomalies; a high-speed binocular camera can collect optical flow data of equipment mechanical vibration; a multi-channel acoustic array can directionally capture abnormal noise to determine abnormal equipment status; a six-axis vibration sensor is used to detect vibration; and the control system can analyze and process the acquired multi-parameter data to provide timely warnings and take appropriate measures. Attached Figure Description

[0014] Figure 1 A schematic diagram of the structure of an intelligent inspection device for a hydropower station; Figure 2 A top view of an intelligent inspection device for a hydropower station; Figure 3 This is a schematic diagram of the counterweight mechanism in an intelligent inspection device for a hydropower station. Figure 4 This is a front view of an intelligent inspection device for a hydropower station.

[0015] In the diagram: 1. Body; 11. Six-axis vibration sensor; 12. Millimeter-wave radar; 2. Quadruped crawling mechanism; 21. Fixing frame one; 22. Drive motor one; 23. Crawling arm one; 24. Drive motor two; 25. Crawling arm two; 3. Drive wheel; 31. Fixing frame two; 32. Drive motor three; 4. Track adapter wheel; 5. Robotic arm; 6. Fixing seat; 61. High-speed binocular camera; 62. Temperature sensor; 63. Laser methane detector; 64. Humidity sensor; 65. Infrared thermal imager; 7. Positioning seat; 71. Electric cylinder; 72. Guide rail; 73. Limiting groove; 74. Counterweight. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0017] Please see Figure 1-4This utility model provides a technical solution for an intelligent inspection device for hydropower stations: An intelligent inspection device for hydropower stations includes a body 1 and a composite mobile platform. The composite mobile platform includes a quadruped crawling mechanism 2 and a moving mechanism for moving on a preset track or climbing ladders and crossing trenches. The quadruped crawling mechanism 2 is rectangularly distributed at the four corners of the body 1, and includes a fixed frame 21 mounted on the body 1. A drive motor 22 is fixed to the inner side of the fixed frame 21. A crawling arm 23 is fixed to the output end of the drive motor 22. A second drive motor 24 is mounted on the other end of the crawling arm 23, and the output end of the second drive motor 24 is fixed to the other end of the crawling arm 23. Furthermore, a crawling arm 25 is fixed to the output end of the drive motor 24; in addition, the moving mechanism includes a drive wheel 3 distributed in a triangular pattern on the lower outer side of the body 1 and a track adapter wheel 4 fixed to the lower front side of the body 1. A fixed frame 2 31 and a drive motor 32 are provided between the drive wheel 3 and the body 1. The fixed frame 2 31 is installed on the outer wall of the body 1, and the drive motor 32 is installed at the bottom of the fixed frame 2 31. The output end of the drive motor 32 is fixed to the shaft of the drive wheel 3 to control the rotation of the drive wheel 3. The quadruped crawling mechanism 2 and the moving mechanism can switch between modes. In the track section, the body 1 is lowered to 0.8m to pass through low corridors, and in quadruped mode, it extends to 1.5m to cross obstacles. It also includes a counterweight mechanism, which is fixed to the bottom of the machine body 1 and is used to automatically adjust the center of gravity position during slope inspection. The counterweight mechanism includes a positioning seat 7 installed on one side of the bottom of the machine body 1. An electric cylinder 71 is fixed inside the positioning seat 7. Two guide rails 72 are symmetrically installed on both sides of the bottom of the machine body 1 at the positioning seat 7. Limiting grooves 73 are opened on the opposite surfaces of the two guide rails 72. A counterweight block 74 slides between the two guide rails 72 at the bottom of the machine body 1. The telescopic end of the electric cylinder 71 is fixed to the middle of the side of the guide rail 72. The two ends of the counterweight block 74 are integrally provided with sliders corresponding to the limiting grooves 73. The counterweight block 74 is slidably connected to the limiting grooves 73 inside the two guide rails 72 through the two sliders. With this counterweight mechanism, the center of gravity position can be automatically adjusted during the slope inspection of the dam surface to ensure stable operation under a 35° inclination condition. It also includes a robotic arm 5, which is located in the upper middle part of the body 1. The robotic arm 5 is equipped with a visual perception unit and an environmental monitoring unit. The visual perception unit includes an infrared thermal imager 65 installed at one end of the robotic arm 5, with a temperature measurement range of -20℃ to 650℃, used for identifying equipment appearance defects and temperature anomalies, as well as a fixed base 6 fixed on the robotic arm 5. A high-speed binocular camera 61 is installed on the fixed base 6, which can collect the mechanical vibration optical flow data of the equipment.

[0018] The environmental monitoring unit includes a temperature sensor 62, a humidity sensor 64, and a laser methane detector 63 installed on the mounting base 6. It can detect the ambient temperature and humidity, and at the same time detect whether there is a leak of gases such as SF6 and CO. A multi-channel acoustic array is also installed on the fixed base 6, and multiple six-axis vibration sensors 11 are installed in a rectangular shape on the upper end of the body 1, which can capture abnormal noise in a directional manner and determine the abnormal state of the equipment. It also includes a control system, built into the main body 1. The control system uses an embedded CPU with a computing power of 10 TOPS for real-time image recognition and data preprocessing. The CPU has an adaptive working condition algorithm, which builds an extreme working condition constraint model based on historical working condition data and automatically triggers the frequency of encrypted inspections, increasing it from once per day to once per hour. At the same time, the device also includes a three-level early warning mechanism: The first-level warning is triggered when temperature or vibration exceeds the threshold, providing both local audible and visual alarms and remote warnings. When a Level 2 warning indicates an anomaly due to multiple parameter correlations, the frequency of inspections will be automatically increased. When a Level 3 early warning indicates a predictive fault, a maintenance work order is generated and a handling plan is pushed out.

[0019] The internal structure of the fuselage 1 also houses a communication system, which includes a multi-protocol gateway that supports 5G, power line carrier, and LoRa for reliable data transmission in complex environments. The internal structure of the fuselage 1 also houses a dynamic path planning module and a battery module. The dynamic path planning module uses LiDAR SLAM combined with RFID landmark positioning. It uses LiDAR SLAM radar (accuracy ±5mm) to build a real-time 3D map of the environment and combines it with RFID landmark cards placed at key points of the equipment to achieve centimeter-level positioning, thereby achieving centimeter-level positioning and obstacle avoidance.

[0020] The front surface of the fuselage 1 is also equipped with a millimeter-wave radar 12, which can penetrate water mist to monitor dam deformation (accuracy 0.1mm).

[0021] The working principle of this utility model is as follows: During the inspection process, when it is necessary to climb a ladder or cross a pipe trench, the four-legged crawling mechanism 2 is controlled by the control system. Drive motor 1 22 and drive motor 24 work in sequence, thereby using drive motor 1 22 to drive crawling arm 1 23 to rotate and drive motor 24 to drive crawling arm 25 to rotate. The crawling function is achieved through the coordinated action of the two. When climbing ladders and crossing obstacles are not required, the moving mechanism moves on the track. The drive motor 32 drives the drive wheel 3 to rotate, and the track adapter wheel 4 assists in fitting on the track to achieve movement along the preset track, ensuring stable movement. It can also switch between quadruped mode and track mode according to the terrain. When the counterweight mechanism needs to work, the electric cylinder 71 extends and retracts to drive the counterweight block 74 to slide along the limit groove 73 of the guide rail 72, adjust the position of the counterweight block 74, thereby changing the center of gravity of the machine body 1 to adapt to slope inspection. During inspection, the robotic arm 5 can flexibly adjust its position, use the infrared thermal imager 65 of the vision perception unit to detect the temperature field of the equipment, and the high-speed binocular camera 61 to capture video of the equipment surface; the sensors of the environmental monitoring unit detect parameters such as temperature, humidity, and methane; the multi-channel acoustic array collects noise, and the six-axis vibration sensor 11 detects vibration, so as to realize comprehensive monitoring of the equipment status. Furthermore, the embedded CPU of the control system processes data from various sensors in real time, responds to extreme conditions through an adaptive working condition algorithm, and triggers corresponding adjustments to the inspection frequency; a three-level early warning mechanism takes different response measures based on abnormal situations. Furthermore, the communication system achieves data transmission through a multi-protocol gateway, the dynamic path planning module combines lidar and RFID landmark cards for positioning and path planning, and millimeter-wave radar 12 monitors dam deformation.

[0022] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model are implemented according to conventional methods in the art, unless otherwise specified or limited.

Claims

1. A smart inspection device for a hydropower station, comprising a body (1), characterized in that, Also includes: A composite mobile platform, comprising a quadrupedal crawling mechanism (2) and a moving mechanism, for moving on a preset track or climbing ladders and crossing trenches; The counterweight mechanism is fixed to the bottom of the machine body (1) and is used to automatically adjust the center of gravity during slope inspection; A robotic arm (5) is located at the upper middle part of the body (1), and a visual perception unit and an environmental monitoring unit are installed on the arm of the robotic arm (5). The control system is built into the fuselage (1), the fuselage (1) is also equipped with a communication system, and the front surface of the fuselage (1) is also equipped with a millimeter-wave radar (12).

2. The intelligent inspection device for a hydropower station according to claim 1, characterized in that, The quadrupedal crawling mechanism (2) is rectangularly distributed at the four corners of the body (1). The quadrupedal crawling mechanism (2) includes a fixed frame (21) installed on the body (1). A drive motor (22) is fixed on the inner side of the fixed frame (21). A crawling arm (23) is fixed at the output end of the drive motor (22). A drive motor (24) is installed at the other end of the crawling arm (23). The output end of the drive motor (24) is fixed to the other end of the crawling arm (23). A crawling arm (25) is also fixed at the output end of the drive motor (24).

3. The intelligent inspection device for a hydropower station according to claim 1, characterized in that, The moving mechanism includes a drive wheel (3) arranged in a triangular pattern on the lower outer side of the body (1) and a track adapter wheel (4) fixed on the lower front side of the body (1). A second fixed frame (31) and a third drive motor (32) are provided between the drive wheel (3) and the body (1). The second fixed frame (31) is installed on the outer wall of the body (1), and the third drive motor (32) is installed at the bottom of the second fixed frame (31). The output end of the third drive motor (32) is fixed to the shaft of the drive wheel (3) to control the rotation of the drive wheel (3).

4. The intelligent inspection device for a hydropower station according to claim 1, characterized in that, The counterweight mechanism includes a positioning seat (7) installed on one side of the bottom of the body (1), an electric cylinder (71) fixed inside the positioning seat (7), two guide rails (72) symmetrically installed on both sides of the bottom of the body (1) at the positioning seat (7), a limit groove (73) is opened on the opposite side of the two guide rails (72), a counterweight block (74) slides between the two guide rails (72) at the bottom of the body (1), and the telescopic end of the electric cylinder (71) is fixed to the middle of the side of the guide rail (72); The counterweight (74) has sliders integrally provided at both ends of the corresponding limiting groove (73), and the counterweight (74) is slidably connected to the limiting groove (73) inside the two guide rails (72) by the two sliders.

5. The intelligent inspection device for a hydropower station according to claim 1, characterized in that, The visual perception unit includes an infrared thermal imager (65) installed at one end of the robotic arm (5) and a fixed base (6) fixed on the robotic arm (5), on which a high-speed binocular camera (61) is installed.

6. The intelligent inspection device for a hydropower station according to claim 1, characterized in that, The environmental monitoring unit includes a temperature sensor (62), a humidity sensor (64), and a laser methane detector (63) mounted on a fixed base (6). The mounting base (6) is also equipped with a multi-channel acoustic array, and the upper end of the body (1) is rectangularly equipped with multiple six-axis vibration sensors (11).

7. The intelligent inspection device for a hydropower station according to claim 1, characterized in that, The control system uses an embedded CPU, and the communication system includes a multi-protocol gateway that supports 5G, power line carrier, and LoRa for reliable data transmission in complex environments. The fuselage (1) is also equipped with a dynamic path planning module and a battery module. The dynamic path planning module uses LiDAR SLAM combined with RFID landmark positioning.

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