大型水电工程百米级引水竖井的病害检测技术

大型水电站引水道竖井段的混凝土病害检测，直接涉及水电站的安全运行。针对大型水电站百米级引水竖井数据获取与病害检测的国际性难题，本文提出一种以无人系留飞艇为浮空装载平台，集成多传感器的百米级垂直竖井检测方案；自主研制了竖井环境适应性强的圆柱形无人系留飞艇浮空装载平台，集成全景CCD相机、三维激光扫描仪、惯性导航测量单元、气压高度计、照明模块、控制模块等多传感器，自主研制了全球首台百米级竖井数据获取与病害检测装备，于2017年5-7月在云南糯扎渡水电厂2、3、4号200 m级引水道竖井现场进行了试验。结果表明，检测装置能够满足大型水电站百米级竖井引水道的检修工作，填补了百米级竖井检测的国际空白，具有较好的应用前景。

Defect Detecting Technology for over 100-meter Shaft

Concrete defect detection of diversion shafts in large hydropower station has a direct impact on the safe operation of the station,endangering the lives of cities and millions of people downstream.However,the research on the detection of the 100-meter-level shafts is still a blank in the world.It is a "blindspots" in detection field.In this paper,a method of integrating multiple mapping sensors based on unmanned airship is proposed to resolve the international problem of data acquisition and disease detection in vertical profile the diversion shafts in hydropower stations;We have designed a brand new device to acquire data and detect the disease of the shafts:a cylindrical unmanned airship adapted to the shafts environment is the floating loading platform,on which multi-sensors such as panoramic CCD camera,3D laser scanner,inertial measurement unit,barometric altimeter,illumination module and control module etc is integrated.Trial implemented inside the No.2,No.3 and No.4 shafts of Nuozhadu hydropower station from May 2017 to July,indicates that the detection device can be well applied for the overhaul of similar vertical profile.The detecting device fills the gap of 100-meter-level shaft detection field and presents a wide application prospect.