CN101149623A - Pipe external climbing control device - Google Patents
Pipe external climbing control device Download PDFInfo
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- CN101149623A CN101149623A CNA2007100537401A CN200710053740A CN101149623A CN 101149623 A CN101149623 A CN 101149623A CN A2007100537401 A CNA2007100537401 A CN A2007100537401A CN 200710053740 A CN200710053740 A CN 200710053740A CN 101149623 A CN101149623 A CN 101149623A
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Abstract
This invention belongs to the electromechanical technology field which is a kind of pipe external crawl machine control device that concludes a chip machine unit, PLC unit, relay unit, display unit, manual unit, rake angle transducer, proximity transducer and power module. The chip machine unit connects with the rake angle transducer and the PLC unit, display unit are connecting with each other and the PLC unit connects with the manual unit and the delay unit, the proximity transducer. The chip machine unit is the core of intellect control which receives the attitude information of creep machine on the pipe received by the rake angle transducer comparing and calculating and then feedback to the PLC unit and the PLC unit controls the walk electric motor of creep machine or the turning electric motor's work according to the feedback information of chip machine unit and the signal of proximity transducer consequently assurance that the creep machine walk straight along the pipe or the specified trace. The manual unit can control the creep machine's movement state in manual according to the demand. This invention offers a resolve method of controlling the walk attitude of the creep machine on the pipe and the walk race.
Description
Technical field
What the present invention relates to is the device in a kind of Electromechanical Control field, specifically is a kind of pipe external climbing control device.
Background technology
Pipeline is as a kind of safe, means of transportation efficiently, be widely used in industries such as oil, petrochemical industry, electric power, coals, increase along with tenure of use, owing to be subjected to the influence of factors such as the extraneous destruction of burn into, accidents such as pipeline leaks, explosion often have generation, be to guarantee the pipe safety operation, be necessary to carry out the maintenance works such as detection, cleaning, reparation of pipeline.Usually the maintenance work of pipeline requires do not carrying out the field condition maintenance under the stopping transportation situation.External existing relevant ripe equipment is applied to the field maintemance work of pipeline, but because pipeline management mode and behaviour in service different can not be applicable to China fully.Domestic main employing is at present manually safeguarded pipeline, and manual maintenance labour intensity is big, and efficient is low, work under bad environment, and therefore, the pipeline field maintemance crawl device that exploitation is fit to China's national situation is very necessary.
Adopt the pipeline maintenance crawl device that pipeline external surface is detected, clean, maintenance works such as reparation, need crawl device can be attached to pipeline external surface reliably, carry and safeguard that utensil advances along the pipeline bearing of trend, in the course of work, crawl device should be able to be advanced according to the route of setting, as directly over pipeline, advancing or advance etc. along the helix of certain lift angle along the direction that is parallel to conduit axis, when yet crawl device is advanced at pipeline external surface, be subjected to pipe welding seam, etch pit, influence such as wheel-slip and self gravitation, at any time all may depart from predetermined direct of travel, even the danger that overturning takes place is arranged.Therefore, pipe external climbing should include travel mechanism, steering mechanism, attachment mechanism usually, could satisfy above-mentioned technical requirement.Travel mechanism makes crawl device have the ability of creeping; Steering mechanism makes crawl device when departing from predetermined direct of travel, adjusts the direct of travel of crawl device, or makes crawl device can adjust direct of travel as required; Attachment mechanism makes crawl device be attached to pipeline external surface reliably, does not come off, overturns.And walking posture and the track route of crawl device on pipeline must have corresponding controller to control, and just can make crawl device replace manpower, and the real mechanization that is applied to pipeline, automated maintenance improve maintenance efficiency.
Publication number is CN1952825A, the patent documentation that open day is on April 25th, 2007 discloses a kind of crawling intelligent controller in submarine pipeline, its major function is by detecting and calculating crawl device at ducted precise position information, the data of putting down in writing in this information and the duct size information file are compared, automatically generate the scheme that the control crawl device carries out defect location in view of the above, full Autonomous Control crawl device is finished the accurate location to fault location in the pipeline.But how the document is to guarantee the walking posture of crawl device in pipeline and do not touch upon by the localization method of programme path walking etc.
Summary of the invention
The objective of the invention is to the problem at the prior art existence, a kind of pipe external climbing control device is provided, this device can reach manual control crawl device walking posture and track route on pipeline automatically.
Pipe external climbing control device provided by the invention is characterized in that: it comprises display unit, power module, single machine unit, programmable logic controller (PLC) unit, relay unit, obliquity sensor and proximity transducer, manual unit;
Power module provides electric energy for single machine unit, programmable logic controller (PLC) unit and relay unit;
During use, obliquity sensor is installed on the longitudinal axis of pipe external climbing, and the proximity transducer mounted in pairs is in pipe external climbing master deflecting roller both sides;
Single machine unit links to each other with obliquity sensor, programmable logic controller (PLC) unit, display unit respectively, single machine unit receives the attitude information of crawl device on pipeline that obliquity sensor measures, by calculating and feeding back to the programmable logic controller (PLC) unit; Display unit is shown to the user with the information of single machine unit;
Relay unit is connected between programmable logic controller (PLC) unit and the pipe external climbing drive motor;
The programmable logic controller (PLC) unit links to each other with proximity transducer with relay unit respectively, and the programmable logic controller (PLC) unit is according to the feedback information of single machine unit and the signal of proximity transducer, by the work of relay unit control crawl device;
Manually the unit is connected with the programmable logic controller (PLC) unit, is used for the motion state of crawl device is controlled manually.
Pipe external climbing control device provided by the invention, the walking posture in the time of reaching manual controlling plumbing fixtures outside surface crawl device automatically and on pipeline, creep and control it and advance by track route of setting.When crawl device departs from the track route of setting for a certain reason, controller can accurately be measured the current skew attitude condition of crawl device in real time, can in time make response control crawl device according to shift state simultaneously turns to, make crawl device revert to correct course, realize the automatic deviation correction of crawl device direct of travel.Controller can also manually be controlled the walking posture and the track route of crawl device as required by operating personnel.
Description of drawings
Fig. 1 is the structural representation of pipe external climbing control device of the present invention.
Fig. 2 is the control principle figure of pipe external climbing control device of the present invention.
Fig. 3 is the control flow chart of single machine unit.
Fig. 4 is the control flow chart of PLC unit.
Fig. 5 (a) is the structural representation of example-wheeled type permanent magnetism adsorption pipeline creeping robot, and Fig. 5 (b) is the left view of Fig. 5 (a), and Fig. 5 (c) is the vertical view of Fig. 5 (a).
Embodiment
The present invention is further detailed explanation below in conjunction with accompanying drawing and example.
As shown in Figure 1, pipe external climbing control device of the present invention comprises display unit 1, power module 2, single machine unit 3, PLC (programmable logic controller (PLC)) unit 4, relay unit 5, obliquity sensor 6 and proximity transducer 7, manual unit 8.
Pipe external climbing comprises travel mechanism, steering mechanism and attachment mechanism.The travel mechanism of pipe external climbing, steering mechanism adopt direct motor drive.Pipe external climbing control device reaches the enforcement of the walking of controlling plumbing fixtures external climbing, go to action by the working condition of control motor.
Single machine unit 3 links to each other with obliquity sensor 6, PLC unit 4, display unit 1, single machine unit 3, PLC unit 4 are cores of Based Intelligent Control, single machine unit 3 interconnects with the serial line interface rs-232 standard with obliquity sensor 6, receive the attitude information of crawl device on pipeline that obliquity sensor 6 measures, by calculating and feeding back to PLC unit 4.
PLC unit 4 links to each other with manual unit 8, relay unit 5, proximity transducer 7, PLC unit 4 is according to the feedback information of single machine unit 3 and the signal of proximity transducer 7, by the walking motor 9 or steer motor 10 work of relay unit 5 control crawl devices, thereby guarantee that crawl device is along pipeline straight line moving or orbiting motion in accordance with regulations.
Power module 2 provides electric energy for single machine unit 3, PLC unit 4 and relay unit 5.
Controller comprises automatically and manual two kinds of control modes.Manually unit 8 can be controlled the motion state of crawl device as required manually.Manually unit 8 is provided with crawl device and advances, retreats, just turns to, negatively control knob such as turns to, stops, and as required the motion state of crawl device is controlled manually.
Describe the course of work of the present invention and principle of work below in detail:
Automatic control state: in the traveling process of crawl device, the obliquity sensor 6 that is installed on the crawl device sends to single machine unit 3 with the angle of inclination value of crawl device on surface level in real time.The signal of 4 pairs of single machine unit 3 in PLC unit and proximity transducer 7 carries out scan round and receives.Be installed on the proximity transducer 7 on main deflecting roller both sides, be used for deflecting roller centering location.Positive bevel angle value for obliquity sensor 6 measurements, there are predetermined angle thresholding T1 and thresholding T2 to compare with it in the single machine unit 3, thresholding T1 is as the thresholding of crawl device turn signal, thresholding T2 is as crawl device danger position parking alarm threshold, after relatively calculating, single machine unit 3 provides the crawl device control signal and sends PLC unit 4 to, and PLC unit 4 drives the control action that relay unit 5 is finished crawl device.In like manner, for the reverse caster angle value that obliquity sensor 6 is measured, corresponding default thresholding T3 and thresholding T4 are arranged also.Such as, when establishing crawl device and being tilted to the left, the pitch angle value that obliquity sensor 6 is measured is being for just, if when the top rake value less than thresholding T1, illustrate that crawl device work at present orientation is normal, single machine unit 3 is to any signal of PLC unit 4 transmissions; If work as the top rake value between thresholding T1 and thresholding T2, single machine unit 3 will send positive turn signal to PLC unit 4, PLC unit 4 drives the steer motor 10 of relay unit 5 control crawl devices just to be changeed, crawl device wheel steering certain angle, crawl device is advanced to the zero degree direction, when the obliquity sensor 6 real-time pitch angle values of measuring equal zero, show that crawl device got back to correct orientation, should stop to continue to turn to, this moment, single machine unit 3 output zero degree signals were given PLC unit 4, PLC unit 4 drives 10 counter-rotatings of relay unit 5 control steer motor, send the termination signal of centering action to PLC unit 4 by proximity transducer 7, control steer motor 10 quits work, and finishes wheel revolution centering, and crawl device direction correcting process finishes; If the pitch angle that current obliquity sensor 6 is measured is greater than predetermined angle thresholding T2, outputting parking alerting signal then, crawl device stops action, is manually controlled by the operator.Above-mentioned is to be the benchmark of zero degree as crawl device operate as normal orientation with inclination angle with respect to the horizontal plane, and is the situation at angle of inclination arbitrarily with respect to the horizontal plane for the benchmark in crawl device operate as normal orientation, and the Control work principle is the same automatically.
Manual state of a control: manually unit 8 is provided with crawl device and advances, retreats, just turns to, negatively control knob such as turns to, stops, can transmit control signal to PLC unit 4 by these buttons, drive the control action that relay unit 5 is finished crawl device by PLC unit 4.
Example:
Shown in accompanying drawing 5 (a), Fig. 5 (b), this example-wheeled type permanent magnetism adsorption pipeline creeping device comprises four-wheel drive dolly 102, permanent magnetism adsorbing mechanism 103 and steering mechanism 104.Permanent magnetism adsorbing mechanism 103 is installed in four-wheel drive dolly 102 bottoms, and steering mechanism 104 is fixed on the four-wheel drive dolly 102.Four-wheel drive dolly 102 comprises the quadruplet set of wheels, every cover set of wheels all has drive unit, each drive unit drive wheels respectively moves on pipeline 101, and the quadruplet set of wheels of four-wheel drive dolly 102 can turn to identical angle simultaneously under the driving of steering mechanism 104.
Adopt pipe external climbing control device of the present invention that above-mentioned wheeled type permanent magnetism adsorption pipeline creeping device is controlled automatically, predetermined angle thresholding T1, thresholding T2, thresholding T3 and thresholding T4 in the single machine unit 3 are set at positive 1, positive 6, negative 1, negative 6 respectively, just can realize the crawl device generation deviation in driction of on pipeline, creeping, crawl device is inclined relative to horizontal the angle when spending greater than positive and negative 1, controller control crawl device real-time deviation correcting, crawl device is revert on the direction of creeping normally, realize the automatic deviation correction function of crawl device; When crawl device was inclined relative to horizontal the angle and spends greater than positive and negative 6, controller control crawl device stopped, and the outputting parking alerting signal, guarantees that crawl device does not overturn.
Claims (1)
1. pipe external climbing control device is characterized in that: it comprises display unit (1), power module (2), single machine unit (3), programmable logic controller (PLC) unit (4), relay unit (5), obliquity sensor (6) and proximity transducer (7), manual unit (8);
Power module (2) is that single machine unit (3), programmable logic controller (PLC) unit (4) and relay unit (5) provide electric energy;
During use, obliquity sensor (6) is installed on the longitudinal axis of pipe external climbing, and proximity transducer (7) mounted in pairs is in pipe external climbing master deflecting roller both sides;
Single machine unit (3) links to each other with obliquity sensor (6), programmable logic controller (PLC) unit (4), display unit (1) respectively, single machine unit (3) receives the attitude information of crawl device on pipeline that obliquity sensor (6) measures, by calculating and feeding back to programmable logic controller (PLC) unit (4); Display unit (1) is shown to the user with the information of single machine unit (3);
Relay unit (5) is connected between programmable logic controller (PLC) unit (4) and the pipe external climbing drive motor;
Programmable logic controller (PLC) unit (4) links to each other with proximity transducer (7) with relay unit (5) respectively, programmable logic controller (PLC) unit (4) is according to the feedback information of single machine unit (3) and the signal of proximity transducer (7), by the work of relay unit (5) control crawl device;
Manually unit (8) is connected with programmable logic controller (PLC) unit (4), is used for the motion state of crawl device is controlled manually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100537401A CN100555140C (en) | 2007-11-02 | 2007-11-02 | A kind of pipe external climbing control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100537401A CN100555140C (en) | 2007-11-02 | 2007-11-02 | A kind of pipe external climbing control device |
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| Publication Number | Publication Date |
|---|---|
| CN101149623A true CN101149623A (en) | 2008-03-26 |
| CN100555140C CN100555140C (en) | 2009-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100537401A Expired - Fee Related CN100555140C (en) | 2007-11-02 | 2007-11-02 | A kind of pipe external climbing control device |
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| CN (1) | CN100555140C (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490804A (en) * | 2011-11-15 | 2012-06-13 | 西华大学 | Robot capable of getting over obstacles and climbing poles |
| WO2014029357A1 (en) * | 2012-08-23 | 2014-02-27 | 苏州宝时得电动工具有限公司 | Automatic working device and control method thereof |
| CN103926448A (en) * | 2014-04-24 | 2014-07-16 | 青岛远创机器人自动化有限公司 | Efficient intelligent tracking pipeline detecting system |
| CN108021134A (en) * | 2017-11-30 | 2018-05-11 | 厦门华蔚物联网科技有限公司 | A kind of robot deviation-rectifying system and its control method |
| CN108426175A (en) * | 2017-10-30 | 2018-08-21 | 成都川盛塑胶有限公司 | A kind of long distance wireless routine for pipe-line transportation system leakage or gas leakage |
| CN114413789A (en) * | 2022-01-31 | 2022-04-29 | 北京航空航天大学 | Pipeline inner wall three-dimensional vision measurement data splicing device and method |
| WO2023137939A1 (en) * | 2022-01-24 | 2023-07-27 | 中铁九桥工程有限公司 | Method for controlling movement trajectory of mobile device on circular pipe |
-
2007
- 2007-11-02 CN CNB2007100537401A patent/CN100555140C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490804A (en) * | 2011-11-15 | 2012-06-13 | 西华大学 | Robot capable of getting over obstacles and climbing poles |
| CN102490804B (en) * | 2011-11-15 | 2013-02-13 | 西华大学 | Robot capable of getting over obstacles and climbing poles |
| WO2014029357A1 (en) * | 2012-08-23 | 2014-02-27 | 苏州宝时得电动工具有限公司 | Automatic working device and control method thereof |
| CN103744425A (en) * | 2012-08-23 | 2014-04-23 | 苏州宝时得电动工具有限公司 | Automatic working equipment and its control method |
| CN103926448A (en) * | 2014-04-24 | 2014-07-16 | 青岛远创机器人自动化有限公司 | Efficient intelligent tracking pipeline detecting system |
| CN103926448B (en) * | 2014-04-24 | 2016-09-21 | 青岛远创机器人自动化有限公司 | A kind of high efficiency smart seeks pipeline inspection system |
| CN108426175A (en) * | 2017-10-30 | 2018-08-21 | 成都川盛塑胶有限公司 | A kind of long distance wireless routine for pipe-line transportation system leakage or gas leakage |
| CN108021134A (en) * | 2017-11-30 | 2018-05-11 | 厦门华蔚物联网科技有限公司 | A kind of robot deviation-rectifying system and its control method |
| WO2023137939A1 (en) * | 2022-01-24 | 2023-07-27 | 中铁九桥工程有限公司 | Method for controlling movement trajectory of mobile device on circular pipe |
| CN114413789A (en) * | 2022-01-31 | 2022-04-29 | 北京航空航天大学 | Pipeline inner wall three-dimensional vision measurement data splicing device and method |
| CN114413789B (en) * | 2022-01-31 | 2023-02-28 | 北京航空航天大学 | Pipeline inner wall three-dimensional vision measurement data splicing device and method |
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| Publication number | Publication date |
|---|---|
| CN100555140C (en) | 2009-10-28 |
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Granted publication date: 20091028 Termination date: 20121102 |