CN109538938B - "millipede" bionic crawling equipment for leakage detection of deep-buried oil pipeline in desert area - Google Patents
"millipede" bionic crawling equipment for leakage detection of deep-buried oil pipeline in desert area Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D1/00—Pipe-line systems
- F17D1/08—Pipe-line systems for liquids or viscous products
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D3/00—Arrangements for supervising or controlling working operations
- F17D3/01—Arrangements for supervising or controlling working operations for controlling, signalling, or supervising the conveyance of a product
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a bionic crawling device of a spicule for detecting the leakage of a deeply-buried oil pipeline in a desert area, which is characterized in that at least three sections of interconnected polypide bodies are reported and consist of two groups of reverse mechanical crawling legs, and the mechanical crawling legs are fixedly connected by two leg connecting rods to form a mechanical foot; the audio sensor is used for detecting the oil pipeline; the detector is used for detecting the oil pipeline; the power supply battery is used for supplying power to the crawling equipment component; the tracking module is arranged at the front part of the worm body and used for detecting an oil pipeline deeply buried underground so as to provide a basis for the correct running direction of the desert vehicle; and the data processing center is used for receiving the data information from the detector, processing and analyzing a large amount of received data information without calculation processing and transmitting the processed data information back to the ground pipeline detection station. The invention also provides a method for detecting the leakage of the deeply-buried oil pipeline in the desert area, solves the problem of detecting the leakage of the deeply-buried oil pipeline in the unmanned desert area, and realizes the automatic detection of the unmanned leakage detection equipment and the remote real-time transmission of data.
Description
Technical Field
The invention belongs to the technical field of pipeline leakage detection, and particularly relates to a millipede bionic crawling device for detecting leakage of a deep-buried oil pipeline in a desert area and a method for detecting leakage of the deep-buried oil pipeline in the desert area.
Background
The problems of exploitation and transportation of fossil energy are always puzzling the development of countries all over the world, and the importance of the pipeline leakage detection technology is self-evident. The oil and gas pipeline in China is buried about 2m deep underground, and the pipeline strength gradually enters a dangerous period along with the passage of time, so that the development and research of the leak detection technology are particularly important.
Oil and gas pipeline leak detection means have been developed from the simplest manual segmentation along the pipeline section by inspection to more complex computer software and hardware combined methods. On one hand, an infrared detection method and a reflected pulse signal detection method gradually show unique advantages in practical application, but the oil and gas pipeline leakage detection method under deep-buried soil faces technical bottlenecks of huge data processing, difficult positioning and the like. On the other hand, an intelligent method is introduced into a monitoring and positioning technology, so that intelligent detection, robot detection, positioning and the like are also the mainstream research directions for oil field pipeline leakage detection.
Disclosure of Invention
The invention aims to provide the tenebrio molitor bionic crawling device for detecting the leakage of the deep-buried oil pipeline in the desert area, which has the advantages of unmanned automatic leakage detection, high sensitivity, remote control, real-time transmission of detection data, real-time transmission of leakage information and accurate positioning.
The technical scheme adopted by the invention for realizing the first purpose is as follows: a "millipede" bionic equipment of crawling for desert area bury oil pipeline leak hunting deeply, includes:
at least three sections of interconnected worm bodies are composed of two groups of reverse mechanical crawling legs, and the mechanical crawling legs are fixedly connected by two leg connecting rods to form a mechanical foot;
the audio sensor is arranged above the worm body and used for detecting the oil pipeline;
the detector is arranged above the worm body and used for detecting the oil pipeline;
the power supply battery is arranged above the worm body and used for supplying power to the crawling equipment part;
the tracking module is arranged at the front part of the worm body and used for detecting an oil pipeline deeply buried underground so as to provide a basis for the correct running direction of the desert vehicle;
and the data processing center is arranged above the worm body and used for receiving data information from the detector, processing and analyzing a large amount of received data information without calculation processing and transmitting the data information back to the ground pipeline detection station. In the whole working process of the device, the tracking module detects a deeply buried oil pipeline to provide a running route for a desert vehicle, the desert vehicle is ensured to run along the upper part of the deeply buried oil pipeline all the time, in the running process, the detector is matched with the audio sensor to finish the work of detecting the leakage condition of the oil pipeline, the detector receives information such as audio signals from the audio sensor and calculates the leakage position according to the audio signals, then the detector transmits a large amount of data information to the data processing center in a wireless transmission mode, the data processing center processes and analyzes a large amount of received information without calculation, deletes useless information and transmits valuable oil pipeline leakage information back to the ground pipeline detection station, thereby realizing the leakage inspection of the oil and gas pipeline, and the ground pipeline monitoring station receives the leakage information from the data processing center, according to the leakage position of emission wave position determination, send the people to and overhaul, whole structural design makes check out test set sensitivity high, through remote control, detects data real-time transmission, can realize real-time conveying leakage information, and the location is accurate, has avoided artificial detection, is of value to guaranteeing staff's personal safety. The power supply battery is connected with a charging port of a power supply inside the detector to provide electric energy for normal work of the detector and the audio sensor, the device can generate electric energy through the solar cell panel to fully charge the power supply battery before executing a task, a necessary power supply is provided for the device, the cruising mileage can reach 1000km, and charging maintenance is not needed in the middle.
Furthermore, the crawling device is composed of six worm bodies, and the crawling frequency of each worm is sequentially staggered in opening degree. The opening degree of staggering in proper order between the frequency of crawling of each worm festival forms six looks circulation mechanism of crawling, and this structural design is simple, and the security is high, tries on in multiple occasions such as pipeline.
Furthermore, the contact part of the mechanical foot and the ground is provided with anti-skid teeth. The design of the anti-skidding teeth can avoid the mechanical foot from skidding with the ground, directional friction is generated in the walking process, the reverse ground grabbing force of the mechanical foot is reasonably increased, the crawling capability and the passing performance of the mechanical foot are improved, wherein the anti-skidding teeth on the surface of the mechanical foot are matched with the crawling frequency of each worm section, the mechanical foot forms regular friction with ground sand grains in the crawling process, and shearing sliding is generated between the mechanical foot and the sand grains, so that the friction coefficient is increased, the amplitude is the same and fluctuates, the stability of the heat flow distribution coefficient is ensured due to the fact that the contact area between each anti-skidding tooth and the ground is stable, the anti-skidding teeth can stably dissipate heat in the gliding process, the heat is uniformly dispersed, the heat generated by friction is prevented from acting on the mechanical foot, the mechanical performance and the detection result are influenced, the sensitivity of equipment is improved, and the accurate positioning of the leakage position of the.
Further, the worm body comprises: the driving motor, the rotor arm hub connection rotor arm of driving motor output, the rotor arm passes through miniature shaft coupling and is connected with the connecting rod, and the connecting rod passes through the ball joint and is connected with the shank connecting rod. This mechanical structure design is simple reasonable, drives mechanical sufficient production series motion through driving motor to form six looks circulation crawl mechanism, be applicable to unmanned area desolate and boundless environment, the strong adaptability of surmounting the surface of earth.
Furthermore, a slide block is arranged at the joint of the rotating arm and the miniature coupler. The driving motor drives the rotating arm to move, so that the frequency swing of the whole device is realized, the micro coupling is connected with the rotating arm and the sliding block to enable the rotating arm and the sliding block to generate the same mechanical movement, and meanwhile, the micro coupling also has the effects of buffering and vibration reduction and improving the dynamic performance of a shaft system.
Furthermore, the body of the worm is horizontally provided with a homodromous connecting rod, the sliding block slides along the homodromous connecting rod, and the sliding block is provided with a lifting rod in a matching way. The internal level of worm is provided with the syntropy connecting rod, and the slider slides along the syntropy connecting rod, and the cooperation is provided with the lifter on the slider, makes the motion of whole device compacter when this structure realizes the motion of the worm body, has improved device stability ability.
Furthermore, the homodromous connecting rod is connected with a vertically downward rotating arm through a sliding block, a spring is arranged on the rotating arm, the bottom end of the rotating arm is connected with an adjusting motor, and a signal receiving module is connected onto the adjusting motor. The syntropy connecting rod still passes through the slider and connects perpendicular decurrent rotor arm, be equipped with the spring on the rotor arm, and the rotor arm bottom is connected with adjusting motor, the last signal reception module that is connected with of adjusting motor, but the device realizes freely height-adjusting when the level crawls, the design of spring can play the cushioning effect, avoid the device process of crawling to appear shaking by a wide margin, but signal reception module real-time supervision ground condition to pass to data processing center with information such as the motion state of device.
Furthermore, the worm bodies are connected through universal connecting pins. The universal connecting pin is connected with each worm joint, the stability of the reinforcing device is ensured, and the flexibility among the worm joints is ensured, so that the crawling capability of the worm body is ensured.
A second object of the present invention is to provide a method for leak detection of a deeply buried oil pipeline in a desert region, intended to solve the problem of leak detection of a deeply buried oil pipeline in an unmanned desert region, to achieve automatic detection by unmanned leak detection equipment and remote real-time transmission of data.
The technical scheme adopted by the invention for realizing the second purpose is as follows: the method for detecting the leakage of the deep-buried oil pipeline in the desert area comprises the following steps:
1) detecting along an oil pipeline by using an audio sensor 1, selecting 2 measuring points along the pipeline, and measuring audio signal information of the 2 measuring points;
2) calculating the leakage position by using the detector 1 according to the power intensity of 2 frequency components in the audio frequency spectrum of 2 measuring points;
3) the leakage information is passed to the data processing centre 3 for processing and the information is transmitted back to the ground pipeline inspection station.
Further, the sending of the information of the ground pipeline inspection station by the data processing center 3 includes: positioning information, leakage information, ground path and pipeline information.
Compared with the prior art, the invention has the beneficial effects that: 1) the method is suitable for the desert environment of the unmanned area; aiming at the special environment of an unmanned area in a desert, the bionic wormhole crawling method spans the bumpy environment through the 'millipede', and has strong adaptability; 2) unmanned automatic leak detection is carried out, the sensitivity is high, and tiny leakage and leakage positions of an oil pipeline in an unmanned area can be detected; 3) remote control, real-time transmission of detection data, real-time transmission of leakage information and accurate positioning; 4) the cruising ability is strong, manual maintenance is not needed in the later period, the cruising can be continued for 7 days, the cruising mileage can reach 1000km, and charging maintenance is not needed in the middle.
Drawings
FIG. 1 is a schematic structural diagram of a bionic crawling device of the invention for detecting leakage of a deep-buried oil pipeline in a desert area;
FIG. 2 is a schematic structural view of a mechanical crawling leg constituting an insect body;
FIG. 3 is a schematic diagram of a signal receiving module according to the present invention;
FIG. 4 is a schematic diagram of the method for detecting the leakage of the deep-buried oil pipeline in the desert region;
description of reference numerals: 1. a detector; 2. an audio sensor; 3. a data processing center; 4. a power supply battery; 5. a tracking module; 6. a drive motor; 7. a rotating arm shaft; 8. a rotating arm; 9. a mechanical foot; 10. adjusting the motor; 11. a homodromous connecting rod; 12. a lifting rod; 13. a miniature coupler; 14. a slider; 15. a connecting rod; 16. a ball joint; 17. a leg connecting rod; 18. a universal connecting pin; 20. a signal receiving module; 21. a spring.
Detailed Description
The invention is described in further detail below with reference to examples and figures:
example 1:
as shown in fig. 1-3, a bionic crawling device for detecting leakage of a deep buried oil pipeline in a desert area comprises:
at least three sections of interconnected worm bodies are composed of two groups of reverse mechanical crawling legs, and the mechanical crawling legs are fixedly connected by two leg connecting rods 17 to form a mechanical foot 9;
the audio sensor 2 is arranged above the worm body and used for detecting an oil pipeline;
the detector 1 is arranged above the worm body and used for detecting an oil pipeline;
the power supply battery 4 is arranged above the worm body and used for supplying power to the crawling equipment part;
the tracking module 5 is arranged at the front part of the worm body and used for detecting an oil pipeline deeply buried underground so as to provide a basis for the correct running direction of the desert vehicle;
and the data processing center 3 is arranged above the worm body and used for receiving data information from the detector 1, processing and analyzing a large amount of received data information without calculation processing and transmitting the processed data information back to the ground pipeline detection station. In the whole working process of the device, the tracking module 5 detects a deeply buried oil pipeline to provide a running route for a desert vehicle, the desert vehicle is ensured to run above the deeply buried oil pipeline all the time, in the running process, the detector 1 cooperates with the audio sensor 2 to complete the work of detecting the leakage condition of the oil pipeline, the detector 1 receives information such as audio signals from the audio sensor 2 and calculates the leakage position according to the audio signals, then the detector 1 transmits a large amount of data information to the data processing center 3 in a wireless transmission mode, the data processing center 3 processes and analyzes the received large amount of information without calculation, deletes useless information, and transmits valuable oil pipeline leakage information back to a ground pipeline detection station, thereby realizing the leakage inspection of the oil and gas pipeline, and the ground pipeline monitoring station receives the leakage information from the data processing center 3, the leakage position is determined according to the position of the transmitted wave, a person is sent to the detector for maintenance, wherein the power supply battery 4 is connected with a charging port of a power supply inside the detector 1, electric energy is provided for normal work of the detector 1 and the audio sensor 2, the device can generate electric energy through the solar cell panel before a task is executed to fully charge the power supply battery 4, a necessary power supply is provided for the device, the cruising mileage can reach 1000km, and charging maintenance is not needed in the middle.
The crawling device consists of six worm bodies, and the crawling frequency of each worm is staggered by 60 degrees in sequence. The crawling frequency of each worm knot is staggered by 60 degrees in sequence to form a six-phase circulating crawling mechanism, and the six-phase circulating crawling mechanism is simple in structural design, high in safety and suitable for various occasions such as pipelines on trial.
The contact part of the mechanical foot 9 and the ground is provided with anti-skid teeth. The design of the anti-skidding teeth can avoid the mechanical foot 9 from skidding with the ground, directional friction is generated in the walking process, the reverse ground grabbing force of the mechanical foot 9 is reasonably increased, the crawling capability and the passing performance of the mechanical foot 9 are improved, wherein the anti-skidding teeth on the surface of the mechanical foot 9 are matched with the crawling frequency of each worm section, the mechanical foot 9 forms regular friction with sand grains on the ground in the crawling process, shearing slippage is generated between the mechanical foot 9 and the sand grains, the friction coefficient is increased, the amplitude is the same and fluctuates, the stability of the heat flow distribution coefficient is ensured due to the stable contact area between each anti-skidding tooth and the ground, the stable heat dissipation of the anti-skidding teeth in the gliding process is further ensured, heat is uniformly dispersed, the heat generated by friction is prevented from acting on the mechanical foot 9, the mechanical performance and the detection result of the mechanical foot are influenced, the sensitivity of the device is improved, and the accurate positioning of the.
The polypide includes: the driving motor 6, the rotor arm shaft 7 of driving motor 6 output connects rotor arm 8, rotor arm 8 passes through miniature shaft coupling 13 and is connected with connecting rod 15, and connecting rod 15 passes through ball joint 16 and is connected with shank connecting rod 17. This mechanical structure design is simple reasonable, drives mechanical foot 9 through driving motor 6 and produces a series of motions to form six looks circulation crawl mechanism, be applicable to unmanned area desolate and boundless environment, the strong adaptability of surmounting the surface of earth again.
The surface of the antiskid tooth is coated with a wear-resistant coating, and the coating comprises the following components in parts by weight: 53 parts of modified polyether ether ketone, 20 parts of phenolic epoxy resin, 9 parts of curing agent, 0.3 part of methylimidazole, 1.1 part of flatting agent, 0.5 part of flow promoter, 0.1 part of defoaming agent, 1.2 parts of degassing agent, 3 parts of flexibilizer, 0.5 part of sodium hexametaphosphate, 11 parts of pigment, 6 parts of diethyl ammonium dithiocarbamate and 27 parts of filler. The defoaming agent is a mixture of N, N-diethyl-1, 3-propane diamine and m-hydroxy benzene sulfonic acid, the weight ratio of the N, N-diethyl-1, 3-propane diamine and m-hydroxy benzene sulfonic acid in the defoaming agent is 1.5-3:10-15, the N, N-diethyl-1, 3-propane diamine and the m-hydroxy benzene sulfonic acid are added to form a crosslinking effect with a curing agent, a degassing agent and the like, a layer of protective film can be rapidly formed on the surface of the anti-skid tooth by utilizing the acting force between molecules, can effectively inhibit the corrosion of water to metal and indirectly prolong the service life of the anti-skid teeth, and meanwhile, the coating is green and environment-friendly, no harm to human health and safety in production, storage, transportation and construction, good mechanical property and corrosion resistance, strong adhesive force and heat resistance, even if the surface construction is carried out for a long time under dry conditions such as desert and the like, the adhesion is still firm, and the damage to the anti-skidding teeth caused by heat generated by friction can be avoided.
A slide block 14 is arranged at the joint of the rotating arm 8 and the micro-coupler 13. The driving motor 6 drives the rotating arm 8 to move, so that the frequency swing of the whole device is realized, the micro coupling 13 is connected with the rotating arm 8 and the sliding block 14 to enable the same mechanical movement to be generated, and meanwhile, the micro coupling 13 also has the effects of buffering and damping and improving the dynamic performance of a shaft system.
The body level of worm is provided with syntropy connecting rod 11, and slider 14 slides along syntropy connecting rod 11, and the cooperation is provided with lifter 12 on the slider 14. Syntropy connecting rod 11 still connects perpendicular decurrent rotor arm 8 through slider 14, be equipped with spring 21 on the rotor arm 8, and 8 bottom of rotor arm is connected with adjusting motor 10, be connected with signal reception module 20 on the adjusting motor 10, the device can freely adjust the height when realizing the level crawl, spring 21's design can play the cushioning effect, avoid the device process of crawling to appear shaking by a wide margin, signal reception module 20 real-time supervision ground condition, and with information such as the motion state of device pass to data processing center 3.
The worm bodies are connected through universal connecting pins 18. The worm bodies are connected through universal connecting pins 18. The universal connecting pin 18 is connected with each worm joint, so that the stability of the reinforcing device is ensured, the flexibility among the worm joints is ensured, and the crawling capability of the worm body is ensured.
Example 2:
the method for detecting the leakage of the deep-buried oil pipeline in the desert area comprises the following steps:
1) detecting along an oil pipeline by using an audio sensor 1, selecting 2 measuring points along the pipeline, and measuring audio signal information of the 2 measuring points;
2) calculating the leakage position by using the detector 1 according to the power intensity of 2 frequency components in the audio frequency spectrum of 2 measuring points;
3) and transmitting the leakage information to a data processing center 3 for processing, wherein the processing information comprises: positioning information, leakage information, ground path and pipeline information, and then transmitting the information back to the ground pipeline detection station.
Conventional techniques in the above-described embodiments are known to those skilled in the art and will not be described in detail herein.
Example 3: the invention relates to a bionic creeping device of a spica molesta for detecting leakage of a deep-buried oil pipeline in a desert area, which is characterized in that when in actual use: the tracking module 5 detects the oil pipeline deeply buried underground to provide a running route for the desert vehicle, the desert vehicle is ensured to run along the upper part of the deeply buried oil pipeline all the time, in the running process, the detector 1 cooperates with the audio sensor 2 to complete the work of detecting the leakage condition of the oil pipeline, the detector 1 receives the information such as the audio signal from the audio sensor 2 and calculates the leakage position according to the audio signal, then the detector 1 transmits a large amount of data information to the data processing center 3 in a wireless transmission mode, the data processing center 3 processes and analyzes a large amount of received information without calculation, deletes useless information and transmits valuable oil pipeline leakage information back to the ground pipeline detection station, thereby realizing the leakage inspection of the oil and gas pipeline, the ground pipeline monitoring station receives the leakage information from the data processing center 3 and determines the leakage position according to the position of the transmitted wave, the person is sent to the maintenance, wherein, power supply battery 4 is connected with the inside power supply's of detector 1 mouth that charges, provides the electric energy for detector 1, audio sensor 2's normal work, and the device can produce the electric energy through solar cell panel before carrying out the task and be full of power supply battery 4, for the device provides necessary power, and the mileage of cruising can reach 1000km, the middle maintenance that need not to charge.
The above embodiments are merely illustrative, and not restrictive, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention, and the protection scope of the present invention should be defined by the claims.
Claims (2)
1. A "millipede" bionic equipment of crawling for desert area bury oil pipeline leak hunting deeply, includes:
at least three sections of interconnected worm bodies are composed of two groups of reverse mechanical crawling legs, and the mechanical crawling legs are fixedly connected by two leg connecting rods (17) to form a mechanical foot (9);
the audio sensor (2) is arranged above the worm body and used for detecting the oil pipeline;
the detector (1) is arranged above the worm body and used for detecting the oil pipeline;
the power supply battery (4) is arranged above the worm body and used for supplying power to the crawling equipment part;
the tracking module (5) is arranged at the front part of the worm body and is used for detecting an oil pipeline deeply buried underground so as to provide a basis for the correct running direction of the desert vehicle;
the data processing center (3) is arranged above the worm body and is used for receiving data information from the detector, processing and analyzing a large amount of received data information without calculation processing and transmitting the processed data information back to the ground pipeline detection station;
the contact part of the mechanical foot (9) and the ground is provided with anti-skid teeth;
the polypide includes: the leg connecting rod mechanism comprises a driving motor (6), a rotating arm shaft (7) at the output end of the driving motor (6) is connected with a rotating arm (8), the rotating arm (8) is connected with a connecting rod (15) through a micro coupler (13), and the connecting rod (15) is connected with a leg connecting rod (17) through a ball joint; a slide block (14) is arranged at the joint of the rotating arm (8) and the miniature coupler (13);
the crawling equipment consists of six worm bodies, and the crawling frequency of each worm is staggered by 60 degrees in sequence;
a homodromous connecting rod (11) is horizontally arranged in the worm body, the sliding block (14) slides along the homodromous connecting rod (11), and a lifting rod (12) is arranged on the sliding block (14) in a matching way;
the homodromous connecting rod (11) is also connected with a vertically downward rotating arm (8) through a sliding block (14), a spring (21) is arranged on the rotating arm (8), the bottom end of the rotating arm (8) is connected with an adjusting motor (10), and the adjusting motor (10) is connected with a signal receiving module (20);
the surface of the antiskid tooth is coated with a wear-resistant coating, and the coating comprises the following components in parts by weight: 53 parts of modified polyether ether ketone, 20 parts of phenolic epoxy resin, 9 parts of curing agent, 0.3 part of methylimidazole, 1.1 part of flatting agent, 0.5 part of flow promoter, 0.1 part of defoaming agent, 1.2 parts of degassing agent, 3 parts of flexibilizer, 0.5 part of sodium hexametaphosphate, 11 parts of pigment, 6 parts of diethyl ammonium dithiocarbamate and 27 parts of filler.
2. The bionic crawling equipment for the leakage detection of the deep-buried oil pipelines in the desert regions, according to the claim 1, is characterized in that: the worm bodies are connected through universal connecting pins (18).
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|---|---|---|---|
| CN201811483918.0A CN109538938B (en) | 2018-12-05 | 2018-12-05 | "millipede" bionic crawling equipment for leakage detection of deep-buried oil pipeline in desert area |
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| CN201811483918.0A CN109538938B (en) | 2018-12-05 | 2018-12-05 | "millipede" bionic crawling equipment for leakage detection of deep-buried oil pipeline in desert area |
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| CN109538938B true CN109538938B (en) | 2021-03-16 |
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| US4919223A (en) * | 1988-01-15 | 1990-04-24 | Shawn E. Egger | Apparatus for remotely controlled movement through tubular conduit |
| CN103162060B (en) * | 2013-03-06 | 2014-10-22 | 北京隆科兴非开挖工程有限公司 | Steering mechanism of pipeline walking robot |
| CN107328859A (en) * | 2017-06-30 | 2017-11-07 | 林幸东 | A kind of cable quality detection means and its method of work |
| CN107336763A (en) * | 2017-07-10 | 2017-11-10 | 上海理工大学 | A kind of comprehensive multi-joint simulating crawling robot |
| CN207880460U (en) * | 2018-01-13 | 2018-09-18 | 山西长娥北斗导航数据服务有限公司 | Comprehensive pipe network intelligence inspection examination and repair system based on big-dipper satellite positioning |
| CN108332063B (en) * | 2018-01-29 | 2020-04-24 | 中国科学院声学研究所 | Pipeline leakage positioning method based on cross correlation |
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