摘要
随着水库大坝运行年限的增长和服役环境的动态变化,深水环境下库坝系统结构缺陷的精准检测与修复加固已成为保障重大水利基础设施长期安全运行的关键挑战。通过空间层级、任务流程与知识流动3个维度的系统重构,构建“水下-岸基、载人-无人、检测-修复、机具-材料-工艺、专家-现场、设备-缆线-障碍”六大协同机制,本文提出一种融合多源数据、诊断评估与作业管控的“三融合六协同”人机协同作业范式。研制了300 m级模块化多功能深水修复平台,突破了深水环境下无人化全工序作业的技术与装备瓶颈;开发了基于人机协同的集成管控数字孪生系统,实现了作业装备状态、环境参数与风险态势的实时映射与动态调度。在云南省某大型水电站附属建筑物的示范应用中,所提方法成功实现了模拟缺陷的水下全流程修复作业,验证了该技术路径的可行性与工程适用性。研究成果为库坝系统深水修复提供了系统化解决方案,对推动重大水利基础设施的智慧运维与安全保障具有重要推广价值。
With the increasing service life of reservoir dams and the dynamic changes in their operating environments,the precise detection,repair,and reinforcement of structural defects in deep-water reservoir-dam systems have become critical challenges for ensuring the long-term safe operation of major water conservancy infrastructure.This study proposes a“Three-Integration and Six-Synergy”human-machine collaborative operational paradigm,which integrates multi-source data,diagnostic assessment,and operational control.The paradigm is supported by systematic restructuring across spatial hierarchy,workflow,and knowledge flow dimensions,enabling six synergies that coordinate underwater/shore-based,manned/unmanned,detection/repair,equipment/material/process,expert/field,and device/cable/obstacle operations.The development of a 300-meter-level modular multifunctional deep-water repair platform overcomes technical and equipment bottlenecks for fully unmanned,end-to-end operations in deep-water environments.Complementing this,an integrated digital twin control system based on human-machine collaboration enables real-time mapping and dynamic scheduling of operational equipment status,environmental parameters,and risk conditions.In a demonstration application at the some hydropower station of Yunnan Province,the proposed methodology successfully accomplished a full-process underwater repair operation for simulated defects,validating the feasibility and engineering applicability of this technical approach.These findings provide a systematic solution for the deep-water repair of reservoir-dam systems,holding significant potential for advancing intelligent operation,maintenance,and safety assurance of major water infrastructure.
作者
向衍
王亚坤
雷勇
沈光泽
王磊
王文胜
张炜博
XIANG Yan;WANG Yakun;LEI Yong;SHEN Guangze;WANG Lei;WANG Wensheng;ZHANG Weibo(Nanjing Hydraulic Research Institute,Nanjing 210029,China;Dam Safety Management Center of Ministry of Water Resources,Nanjing 210029,China;The State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou 310027,China;China Ship Scientific Research Center,Wuxi 214082,China;Hangzhou Huaneng Engineering Safety Technology Co.,Ltd.,Hangzhou 310013,China)
出处
《水科学进展》
北大核心
2025年第6期1016-1029,共14页
Advances in Water Science
基金
国家重点研发计划项目(2022YFC3005405)
国家自然科学基金项目(U23B20150)。
关键词
库坝系统
深水环境
水下缺陷检测
水下修复加固
人机协同
集成管控
dam-reservoir system
deep-water environment
underwater defect detection
underwater repair and reinforcement
human-machine collaboration
integrated control system.
