Research Of Key Technology On Shaft Detection Equipment Based On Multi-Sensors For 100-meter Level Diversion Waterway

The detection of the 100-meter-level diversion shafts has become an international problem for researchers focusing on technology of large hydropower stations.So far,there is no way to make an effective detection on 100-meter-level diversion shafts according to the long distance,small entrance and harsh environment,which make it difficult for manual detection,imaging and positioning.In this paper,a method of integrating multiple mapping sensors carried by unmanned airship is proposed to meet the detection demand in vertical section of the diversion shafts in large hydropower stations,and the key technologies on multi-sensor shaft detection equipment are developed.The main work is as follows:(1)In this paper,a method of integrating multiple mapping sensors carried by unmanned airship is proposed.We designed a software and hardware platform for the detection of 100-meter-level diversion shafts.The platform consists of sensors such as CCD camera,3D laser scanner,inertial measurement unit,barometric altimeter and automatic data collection software.The detection method solved the problems in manual detection.(2)Due to the difficulty of imaging and positioning in 100-meter-level diversion shafts,this paper studies high-precision positioning technology based on multi-sensors in diversion shafts.Meanwhile,a fusion model for images and 3D point cloud is established to enhance the visualization in complex environment.(3)An operation instruction for software and hardware of shaft detection equipment is introduced.Several tests in diversion shafts indicate that the detection equipment can be well applied for 100-meter-level diversion shafts of large hydropower station.The research has made successful application in large hydropower stations like Nuozhadu Hydropower Station.