CN108488540A - A kind of interior detection robot extension apparatus and the extension method of creeping over long distances of pipeline - Google Patents
A kind of interior detection robot extension apparatus and the extension method of creeping over long distances of pipeline Download PDFInfo
- Publication number
- CN108488540A CN108488540A CN201810312305.4A CN201810312305A CN108488540A CN 108488540 A CN108488540 A CN 108488540A CN 201810312305 A CN201810312305 A CN 201810312305A CN 108488540 A CN108488540 A CN 108488540A
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- Prior art keywords
- creeping
- extension apparatus
- cable
- extension
- module
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses detection robot extension apparatus and the extension methods of creeping over long distances in a kind of pipeline, including main body of creeping, power transfer module, communication transmission module, intelligent control module, drive module and cable interface；Power transfer module, communication transmission module, intelligent control module and drive module are arranged at body interior of creeping, and drive module is for driving main body walking of creeping；Two cable interfaces are respectively arranged at the both sides for main body of creeping；Body interior of creeping power transfer module, communication transmission module, intelligent control module and drive module are connect with the cable interface of both sides.The present invention design structure is simple, it is easy to accomplish, economic cost is low, and reliability is high, is promoted the use of convenient for oil field and urban pipe network operation scene.
Description
Technical field
The invention belongs to the technical field of pipe detection, more particularly to the interior detection robot of creeping over long distances of a kind of pipeline prolongs
Stretch device and extension method.
Background technology
In recent years, due to the excellent corrosion resistance of the composite bimetal pipe of carbon steel/low-alloy steel inner liner stainless steel and height
Cost performance widely applied in oil-gas gathering and transferring pipeline, but there is also distinct issues are compared, it is raw safely to annoying Oil Field
Production.Composite bimetal pipe due to manufacturing and the defect of site operation is easier to liner occur to collapse problem, causes in the process of running
Periodically logical ball operation cannot be carried out to pipeline to detect with liner layer, can not actively grasp pipeline remaining life, can only take
The passive processing after leakage is pierced in corrosion, and in addition liner collapses the throughput of pipeline for reducing pipeline, and liner is detected using suitable method
Layer collapses and internal corrosion condition improves conduit running shape to ensuring composite bimetal pipe oil-gas gathering and transferring pipeline safe operation
Condition, improve conduit running efficiency and composite bimetal pipe continue to promote and apply it is most important.Therefore, Oil Field is badly in need of one
Quick, the intuitive detection method of kind is detected pipeline inner case.
Currently, using climbing robot camera detection inside pipeline be solve the detection of pipeline internal state it is the most intuitive and
A kind of effective detection technique means.The technology can objectively respond pipeline internal incrustation, corruption by obtaining high definition image data
The situations such as erosion, perforation, crackle, deformation carry the entry type machine of high-definition camera by control system and the control of take-up vehicle
People obtains high definition image information inside pipeline, and image is preserved by cable transmission to control system into inside pipeline
In a hard disk.Pipe robot device is usually by parts such as entry type robot (crawl device), camera lens, cable reel and control systems
Composition is powered using external dedicated mobile power for equipment.Wherein, entry type robot can carry the camera lens of different size model
(such as：Rotating lens, direct-view camera lens, fish eye lens), after being connect with control system by cable reel, the operation of response control system
Order, such as：The advance of crawl device, retrogressing, steering, stopping, speed are adjusted；The lifting of lens mount, decline, light are adjusted；Camera lens
Horizontally or vertically rotation, focusing, zoom etc., front-and rear-view switching etc..In detection process, control system can real-time display, record
The status information of picture and crawl device that camera lens processed is passed back, and touch screen typing remark information can be passed through.Control system may be used also
To be handled image and be exported in real time on a storage device, subsequent editor and archive are carried out, it is comprehensive for subsequent pipeline
It closes assessment and repairs and first-hand in-situ data is provided, be current widely used pipeline internal state detection technique.
But pipeline Internal camera detection climbing robot pipeline internal state detection in there is also limitations.Usually
In the case of, internal diameter of the pipeline is smaller, then the appearance and size of entry type robot will also become smaller therewith accordingly, carries the length of cable
Degree also decreases, therefore also limits the length of pipeline camera detection, is only capable of reaching 500 meters or so under normal circumstances, and oily
Gas gathering line length is mostly several kilometers or tens kilometers, and which limits detecting robot of pipe in multiple tube oil-gas gathering and transportation pipe
Application in road.For the disadvantage, the present invention proposes that a kind of climbing robot of pipe long-distance Internal camera detection extends dress
It sets and detection method, the distance of pipeline Internal camera detection can be increased considerably, meet pipeline comprehensive detection, assessment and reparation
It needs.
Invention content
The purpose of the present invention is to provide detection robot extension apparatus and extension method of creeping over long distances in a kind of pipeline,
To solve the above problems.
To achieve the above object, the present invention uses following technical scheme：
A kind of interior detection robot extension apparatus of creeping over long distances of pipeline, including main body of creeping, power transfer module, communication
Transmission module, intelligent control module, drive module and cable interface；Power transfer module, communication transmission module, intelligent control mould
Block and drive module are arranged at body interior of creeping, and drive module is for driving main body walking of creeping；Two cable interfaces point
It is not set to the both sides for main body of creeping；Body interior of creeping power transfer module, communication transmission module, intelligent control module and drive
Dynamic model block is connect with the cable interface of both sides.
Further, creep detection robot cable end piece connection extension apparatus side cable interface, extension apparatus
The cable interface of the other side connects extension cable disk.
Further, extension cable disk connects control system, and control system connects computer.
Further, it creeps over long distances in a kind of pipeline and detects the extension method of robot extension apparatus, including following step
Suddenly：
Step 1, the climbing robot for calculating front end and extension apparatus departure times at different levels delay thereafter, to ensure to connect
The signal wire and power line of stages can work normally.
Step 2, climbing robot creeps to original design and creeps after, and control system sends out stopping standby instruction to it；
At this time in the line at the extension apparatus both ends that the outgoing originator of pipeline designs the cable discharged and extension cable disk through the invention
Cable interface connects；Control system sends out advancement commands after extension apparatus sets out to crawl device.
Step 3, climbing robot former design of creeping again is creeped after distance, and climbing robot and extension apparatus stop,
Connect second extension apparatus and extension cable disk；Second waits for second extension apparatus to connect second extension cable disk
And after setting out, control system sends out the instruction that continues to creep to climbing robot and extension apparatus；Thereafter can and so on, according to setting
The detecting distance of meter uses multiple extension apparatus and multiple extension cable disks.
Step 4, after the completion of detection, extension apparatus, cable and creeper are recycled successively from back to front in a reverse order
Device people.
Further, camera is installed on climbing robot.
Further, main body of creeping includes car body and traveling wheel；Traveling wheel is arranged in the bottom of car body, drive module connection
Traveling wheel.
Compared with prior art, the present invention has following technique effect：
The extension apparatus of the present invention can reach cable length and doubled by multi-tier, realizes and is examined over long distances inside pipeline
The purpose of survey can preferably solve the problems, such as that current detecting robot of pipe detecting distance is limited, can be applied to oil field gathering and transportation pipe
Road, urban pipe network etc. can quickly detect long-distance pipe internal state, and detection efficiency is higher, and testing result is intuitive, reliable.For
Reach economy purpose, long-distance pipe can be segmented and be detected, every section of unilateral side detects 1~2 kilometer using 2~3 grades of devices
Pipeline.
By multi-tier, long-distance pipe internal state can be detected, can quickly find pipeline internal incrustation, burn into
The situations such as perforation, crackle, deformation, realization accurately determines defective locations, can avoid the pipe generated by internal flaw
Casualties and property loss caused by road leakage failure accident have significant economic and social benefit.
The present invention design structure is simple, it is easy to accomplish, economic cost is low, and reliability is high, is convenient for oil field and urban pipe network
It promotes the use of at operation scene.
Description of the drawings
Fig. 1 is extension apparatus structure chart of the present invention；
Fig. 2 is detection method schematic diagram；
Wherein：1, it creeps main body；2, power transfer module；3, communication transmission module；4, intelligent control module；5, mould is driven
Block；6, cable interface；7, extension cable disk；8, control system；9, computer.
Specific implementation mode
Below in conjunction with attached drawing, the present invention is further described：
It creeps over long distances in a kind of pipeline detection robot extension apparatus, including main body 1 of creeping, power transfer module 2, logical
Believe transmission module 3, intelligent control module 4, drive module 5 and cable interface 6；Power transfer module 2, communication transmission module 3, intelligence
Energy control module 4 and drive module 5 are arranged inside main body 1 of creeping, and drive module 5 is for driving the walking of main body 1 of creeping；Two
A cable interface 6 is respectively arranged at the both sides for main body 1 of creeping；1 internal power transmission module 2 of main body of creeping, communication transmission module
3, intelligent control module 4 and drive module 5 are connect with the cable interface of both sides 6.
Creep detection robot cable end piece connection extension apparatus side cable interface 6, the extension apparatus other side
Cable interface 6 connects extension cable disk 7.
Extension cable disk 7 connects control system 8, and control system 8 connects computer 9.
A kind of extension method of the interior detection robot extension apparatus of creeping over long distances of pipeline, includes the following steps：
Step 1, the climbing robot for calculating front end and extension apparatus departure times at different levels delay thereafter, to ensure to connect
The signal wire and power line of stages can work normally.
Step 2, climbing robot creeps to original design and creeps after, and control system sends out stopping standby instruction to it；
At this time in the line at the extension apparatus both ends that the outgoing originator of pipeline designs the cable discharged and extension cable disk 7 through the invention
Cable interface 6 connects；Control system 8 sends out advancement commands after extension apparatus sets out to crawl device.
Step 3, climbing robot former design of creeping again is creeped after distance, and climbing robot and extension apparatus stop,
Connect second extension apparatus and extension cable disk 7；Second waits for second extension apparatus to connect second extension cable
Disk 7 and after setting out, control system 8 sends out the instruction that continues to creep to climbing robot and extension apparatus；Thereafter can and so on, root
According to the detecting distance of design, multiple extension apparatus and multiple extension cable disks 7 are used.
Step 4, after the completion of detection, extension apparatus, cable and creeper are recycled successively from back to front in a reverse order
Device people.
Camera is installed on climbing robot.
Main body of creeping 1 includes car body and traveling wheel；Traveling wheel is arranged in the bottom of car body, and drive module connects traveling wheel.
Claims (6)
1. detection robot extension apparatus of creeping over long distances in a kind of pipeline, which is characterized in that including main body of creeping (1), electric power
Transmission module (2), communication transmission module (3), intelligent control module (4), drive module (5) and cable interface (6)；Power transmission
Module (2), communication transmission module (3), intelligent control module (4) and drive module (5) are arranged at main body of creeping (1) inside,
Drive module (5) is for driving main body (1) walking of creeping；Two cable interfaces (6) are respectively arranged at the two of main body of creeping (1)
Side；Main body of creeping (1) internal power transmission module (2), communication transmission module (3), intelligent control module (4) and drive module
(5) it is connect with the cable interface of both sides (6).
2. detection robot extension apparatus of creeping over long distances in a kind of pipeline according to claim 1, which is characterized in that climb
The cable interface (6) of the cable end piece connection extension apparatus side of row detection robot, the cable interface of the extension apparatus other side
(6) connection extension cable disk (7).
3. detection robot extension apparatus of creeping over long distances in a kind of pipeline according to claim 2, which is characterized in that prolong
Cable reel (7) connection control system (8) is stretched, control system (8) connects computer (9).
4. the extension method for detection robot extension apparatus of creeping over long distances in a kind of pipeline according to claim 3,
It is characterized in that, includes the following steps：
Step 1, the climbing robot for calculating front end and extension apparatus departure times at different levels delay thereafter, to ensure that connection is at different levels
The signal wire and power line of device can work normally；
Step 2, climbing robot creeps to original design and creeps after, and control system sends out stopping standby instruction to it；At this time
Cable at the extension apparatus both ends that the outgoing originator of pipeline designs the cable discharged and extension cable disk (7) through the invention
Interface (6) connects；Control system (8) sends out advancement commands after extension apparatus sets out to crawl device；
Step 3, climbing robot former design of creeping again is creeped after distance, and climbing robot and extension apparatus stop, connection
Second extension apparatus and extension cable disk (7)；Second waits for second extension apparatus to connect second extension cable disk
(7) and after setting out, control system (8) sends out the instruction that continues to creep to climbing robot and extension apparatus；Thereafter can and so on,
According to the detecting distance of design, multiple extension apparatus and multiple extension cable disks (7) are used；
Step 4, after the completion of detection, extension apparatus, cable and climbing robot are recycled successively from back to front in a reverse order.
5. detection robot extension apparatus of creeping over long distances in a kind of pipeline according to claim 1, which is characterized in that climb
Camera is installed in row robot.
6. detection robot extension apparatus of creeping over long distances in a kind of pipeline according to claim 1, which is characterized in that climb
Row main body (1) includes car body and traveling wheel；Traveling wheel is arranged in the bottom of car body, and drive module connects traveling wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312305.4A CN108488540B (en) | 2018-04-09 | 2018-04-09 | Extension device and extension method for long-distance crawling detection robot in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312305.4A CN108488540B (en) | 2018-04-09 | 2018-04-09 | Extension device and extension method for long-distance crawling detection robot in pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108488540A true CN108488540A (en) | 2018-09-04 |
| CN108488540B CN108488540B (en) | 2020-06-05 |
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ID=63315097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810312305.4A Active CN108488540B (en) | 2018-04-09 | 2018-04-09 | Extension device and extension method for long-distance crawling detection robot in pipeline |
Country Status (1)
| Country | Link |
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| CN (1) | CN108488540B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900250A (en) * | 2019-03-09 | 2019-06-18 | 深圳市厚德检测技术有限公司 | Dark channelized course automatic tour inspection system |
| CN110595338A (en) * | 2019-09-29 | 2019-12-20 | 中国石油集团川庆钻探工程有限公司 | Visual detection system for bimetal composite pipe |
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| CN201133548Y (en) * | 2007-11-07 | 2008-10-15 | 北京和升达信息安全技术有限公司 | Device capable of freely walking in pipeline |
| CN101493174A (en) * | 2008-12-05 | 2009-07-29 | 山东电力集团公司东营供电公司 | Cable conduit traction robot based on video monitor |
| CN203023739U (en) * | 2012-12-28 | 2013-06-26 | 保定金迪科学仪器有限公司 | Device for preventing cable abrasion in endoscopic pipeline detection system |
| CN205278673U (en) * | 2015-12-31 | 2016-06-01 | 浙江理工大学 | Bevel gear directly drives formula pipeline detection robot |
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2018
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201133548Y (en) * | 2007-11-07 | 2008-10-15 | 北京和升达信息安全技术有限公司 | Device capable of freely walking in pipeline |
| CN101493174A (en) * | 2008-12-05 | 2009-07-29 | 山东电力集团公司东营供电公司 | Cable conduit traction robot based on video monitor |
| CN203023739U (en) * | 2012-12-28 | 2013-06-26 | 保定金迪科学仪器有限公司 | Device for preventing cable abrasion in endoscopic pipeline detection system |
| CN205278673U (en) * | 2015-12-31 | 2016-06-01 | 浙江理工大学 | Bevel gear directly drives formula pipeline detection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900250A (en) * | 2019-03-09 | 2019-06-18 | 深圳市厚德检测技术有限公司 | Dark channelized course automatic tour inspection system |
| CN110595338A (en) * | 2019-09-29 | 2019-12-20 | 中国石油集团川庆钻探工程有限公司 | Visual detection system for bimetal composite pipe |
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| Publication number | Publication date |
|---|---|
| CN108488540B (en) | 2020-06-05 |
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