CN111076027A

CN111076027A - Ultrasonic wave and laser-based pipeline blockage positioning device and method

Info

Publication number: CN111076027A
Application number: CN201911244911.8A
Authority: CN
Inventors: 詹文仲; 曾家贞; 庄清涛; 江华
Original assignee: Guangdong Power Grid Co Ltd; Dongguan Power Supply Bureau of Guangdong Power Grid Co Ltd
Current assignee: Guangdong Power Grid Co Ltd; Dongguan Power Supply Bureau of Guangdong Power Grid Co Ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-04-28
Anticipated expiration: 2039-12-06
Also published as: CN111076027B

Abstract

The embodiment of the invention discloses a pipeline blockage positioning device and a method thereof based on ultrasonic waves and laser, wherein the device comprises a probe support plate, wherein an ultrasonic probe, a plurality of laser ranging probes distributed around the ultrasonic probe in a ray shape and a second driving assembly for driving the laser ranging probes to swing back and forth along the ray direction are arranged on the probe support plate; the method comprises the steps of detecting whether the pipeline is blocked and deposited or not by ultrasonic waves, preliminarily judging the positions of the blocked and deposited pipeline, and emitting laser into the pipeline along the axial direction when the blockage is detected; when detecting to have the plug to deposit in the pipeline, the laser of launching and pipeline axis one-tenth contained angle, through the more accurate position of analysis return laser judgement pipeline jam and deposition, through ultrasonic detection and the combination of laser range finding improve the pipe survey pipeline and block up and deposit the precision of position, and detect the pipeline deposition, be favorable to preventing the pipeline deposition and lead to the pipeline to block up.

Description

Ultrasonic wave and laser-based pipeline blockage positioning device and method

Technical Field

The invention relates to the technical field of pipeline detection, in particular to a pipeline blockage positioning device and method based on ultrasonic waves and laser.

Background

Pipeline transportation plays an important role in national economy and social development, but the transported pipelines are very fragile and are prone to various faults, such as blockage. The pipeline blockage is not formed suddenly and is usually the result of accumulated blockage deposition in the pipeline, and at present, the detection of the pipeline blockage and deposition by an ultrasonic detection technology is a method for conveniently detecting the pipeline blockage and deposition.

However, when the existing ultrasonic detection device detects a pipeline, on one hand, the precision of ultrasonic ranging is low, and accurate blockage and deposition positions cannot be obtained; on the other hand, when appearing many places siltation or a plurality of barriers in the pipeline, siltation department or barrier overlap, through the unable fine resolution of ultrasonic detection device, influence the staff and judge, and more barrier and siltation can lead to ultrasonic detection device can take place the wrong report, influence ultrasonic detection device's normal use.

Therefore, the existing ultrasonic detection device can only be used under the condition of simpler environment in the pipeline, and when a plurality of obstacles and siltation sections exist in the pipeline, the ultrasonic detection device can not feed back the siltation condition of the pipeline, so that the siltation condition in the pipeline is ignored by operation and maintenance personnel, and the pipeline has the potential hazard of blockage.

Disclosure of Invention

The embodiment of the invention discloses a pipeline blockage positioning device based on ultrasonic waves and laser and a method thereof, which aim to solve the problem that in the prior art, the detection precision and the adaptability are poor due to single-pass ultrasonic detection.

A pipeline blockage positioning device based on ultrasonic waves and laser comprises a chassis, a shell installed on the chassis, and a detection mechanism assembly installed on the shell;

the detection mechanism assembly comprises a probe support plate and a first driving assembly, wherein one end of the probe support plate is rotatably installed on the shell, the first driving assembly drives the probe support plate to rotate, an ultrasonic probe and a plurality of laser ranging probes distributed around the ultrasonic probe in a ray shape are installed on the probe support plate, and a second driving assembly which drives the laser ranging probes to swing in a reciprocating mode along the ray direction is installed on the probe support plate;

the air-conditioning unit is characterized in that a driving wheel set is installed on the chassis, air channels penetrating through two ends of the driving wheel set are formed in the chassis, an airfoil plate is installed in each air channel, and a propeller blade assembly is installed at the front edge end of the airfoil plate in each air channel.

Furthermore, the air duct is internally divided into a positive pressure cavity and a negative pressure cavity through the wing-shaped plate, one side of the driving wheel set is arranged on the chassis, and a negative pressure layer forming port communicated with the negative pressure cavity is arranged.

Further, be equipped with one end open-ended on the casing, and with the heavy groove of probe carrier looks adaptation, the probe carrier rotates to be installed in the heavy inslot, just the one end of casing is equipped with the intercommunication the spout in heavy groove, slidable mounting has the protecting cover in the spout.

Furthermore, sliding rings are vertically arranged on the two side groove walls of the open end of the sinking groove, the first driving assembly comprises first motors arranged in the two sides of the shell, and an output shaft of each first motor penetrates through a gear arranged at one end of each sliding ring; the both sides of probe support plate one end all be equipped with sliding ring matched with shaft hole, and with the internal tooth hole that the gear was engaged with, the probe support plate is including being used for forming half shaft hole and half the apron dismantled of interior tooth hole.

Furthermore, the second driving assembly comprises a plurality of bases, a synchronous linkage ring, a plurality of uniformly distributed transmission rods, a screw and a second motor, wherein the two sides of the plurality of bases are rotatably arranged on the probe carrier plate; the base plates are installed on the laser ranging probe in a one-to-one correspondence mode, one end of each base plate is provided with a compensation groove penetrating through the two sides of the base plate in the radial direction, and the synchronous linkage rings are inserted into the compensation grooves in a penetrating mode.

Further, one side of the driving wheel set, which is installed on the chassis, is arc-shaped, the air duct is provided with a plurality of air ducts, and the air ducts are circumferentially distributed around the axle center of the arc-shaped side of the chassis.

A pipeline blockage positioning method based on ultrasonic waves and laser comprises the following steps:

s100, transmitting ultrasonic waves into the pipeline along the axial direction, judging whether the pipeline is blocked and deposited or not by analyzing the returned ultrasonic waves, and preliminarily judging the blocked position and the deposited position of the pipeline;

s300, when the pipeline is detected to be blocked, emitting laser to the interior of the pipeline along the axial direction, and judging the position of the pipeline blockage by analyzing the returned blockage detection laser;

when the blockage deposits in the pipeline are detected, laser forming an included angle with the axis of the pipeline is emitted, and the position of the blockage deposits in the pipeline is judged by analyzing the returned laser.

Furthermore, when the sediment of the blockage in the pipeline is detected, a plurality of beams of laser forming included angles with the axis of the pipeline are emitted, and in the detection process, the incident angles of the plurality of beams of laser are gradually adjusted to scan the inner wall of the pipeline section by section.

Further, the positions of pipeline blockage and sedimentation are preliminarily judged by analyzing the returned ultrasonic time and ultrasonic images, and the incidence angle range of the laser is determined according to the preliminarily judged blockage position and sedimentation position.

According to the technical scheme, the embodiment of the invention has the following advantages:

whether it blocks up and silts to detect the pipeline through ultrasonic transducer to the position of jam and siltation in the detection pipeline, when pipeline block up, during the siltation, through the incident angle of adjustment laser rangefinder probe laser, detect pipeline siltation and the position of blockking up, detect through siltation to the pipeline, be favorable to preventing the pipeline from blockking up, guarantee the normal use of pipeline, and cooperate with ultrasonic detection, improved efficiency and the precision that measurement blockked up and siltation detected.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic view of the overall structure of an apparatus according to an embodiment of the present invention;

FIG. 2 is a top view of FIG. 1 according to an embodiment of the present invention;

FIG. 3 is a bottom view of FIG. 1 according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a chassis according to an embodiment of the present invention;

FIG. 5 is a schematic view of a second driving assembly according to an embodiment of the present invention.

In the figure:

1-a chassis; 2-a shell; 3-detecting the mechanism assembly; 4-a driving wheel set; 5-an airfoil plate; 6-a propeller blade assembly; 7-a protective cover; 8-a slip ring;

101-an air duct; 101 a-positive pressure chamber; 101 b-a negative pressure chamber; 101 c-negative pressure layer forming port;

301-probe carrier plate; 302-a first drive assembly; 303-ultrasonic probe; 304-a laser ranging probe; 305-a second drive assembly;

3011-a removable cover;

3021-a first electric machine; 3022-gear;

3051-a base; 3052-synchronous link ring; 3053-a transmission rod; 3054-lead screw; 3055-a second motor;

3051 a-compensation groove.

Detailed Description

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 5, the invention discloses an ultrasonic and laser based pipe blockage positioning device, which comprises a chassis 1, a shell 2 mounted on the chassis 1, and a detection mechanism assembly 3 mounted on the shell 2.

The detection mechanism assembly 3 includes a probe support plate 301 with one end rotatably mounted on the housing 2, and a first driving component 302 for driving the probe support plate 301 to rotate, the probe support plate 301 is mounted with an ultrasonic probe 303, and a plurality of laser ranging probes 304 radially distributed around the ultrasonic probe 303, and the probe support plate 301 is mounted with a second driving component 305 for driving the laser ranging probes 304 to reciprocally swing along a radial direction.

The blockage position in the pipeline and the size and the position of blockage deposition are preliminarily detected through the ultrasonic probe 303, and the blockage position and the deposition position are further accurately detected through the infrared ranging probe 304, which is concretely as follows:

when the pipeline is detected to be blocked, adjusting the incidence angle of the laser of the one or more laser ranging probes 304 to be parallel to the axis of the pipeline through the second driving assembly 305;

when the blockage in the pipeline is detected to be deposited, the incidence angles of the lasers of all the laser ranging probes 303 are adjusted to form included angles with the axis of the pipeline through the second assembly 305, so that the lasers irradiate the inner wall of the pipeline on the corresponding side, and in the detection process, the incidence angles of the lasers are gradually adjusted to scan the inner wall of the pipeline section by section.

Through carrying out the analysis and calculation to the laser that returns, detect the position of pipeline jam and siltation, compare in ultrasonic transducer 303 and detect, can measure the position of pipeline jam and siltation more accurately, and when having avoided the pipeline interior barrier more, detect through ultrasonic transducer 303 and the drawback that the device misreport appears. And, through detecting the siltation size and the siltation position of the plug in the pipeline, be favorable to discharging the hidden danger that the pipeline blockked up, guarantee the unobstructed of pipeline.

In addition, due to the geographical environment limitation or the requirement of pipeline arrangement, an included angle exists between adjacent pipelines, and usually two pipelines are right-angled, but under the condition that the detection is not assisted by equipment, ultrasonic wave and laser detection can only be used for detecting one pipeline, and when the detection is required to be performed on the other pipeline, the detection can only be assisted by a detection trolley or a detection rod carrying a detection element. The inner wall of the pipeline is usually smooth, and an obstacle may exist in the pipeline, so that the detection trolley needs to be laterally or even overturned to avoid the obstacle, the performance requirement on the detection trolley is high, and the conventional detection trolley cannot be well adapted to running in the pipeline.

Therefore, the present invention further provides an embodiment, which specifically comprises the following steps:

the chassis 1 is provided with a driving wheel set 4 comprising a plurality of driving wheels driven by a motor, and the driving wheel set is used for enabling the whole device to flexibly avoid obstacles in a pipeline. An air duct 101 penetrating through two ends of the chassis 1 is arranged in the chassis 1, an airfoil plate 5 is arranged in the air duct 101, and a propeller blade assembly 6 is arranged in the air duct 101 and at the front edge end of the airfoil plate 5. The propeller blade assembly 6 comprises propeller blades driven by a motor, when the propeller blades rotate, airflow is formed above and below the streamline airfoil plate 5, the flow velocity of the airflow above the airfoil plate 5 is larger than that of the airflow below the airfoil plate, the airflow is opposite to the lift force generated by the wing, and the airfoil plate 5 bears downward pressure, so that on one hand, the friction force between the driving wheel and the inner wall of the pipeline is increased, and the driving wheel and the inner wall of the pipeline are prevented from sliding relatively; on the other hand, when the barrier siltation is higher, drive the whole lateral shifting of device, the upset even through the drive wheel, and when the device upset, aerofoil 5 took place the upset, and the pressure on the aerofoil 5 changes into and is used for lifting the holistic lift of device, makes the device upset and attached and remove on the inner wall at pipeline top to avoid the barrier, make the device can use in the pipeline of buckling and the running condition is relatively poor.

The driving wheels are preferably Mecanum wheels, the use of a steering mechanism is reduced, the overall size of the device is favorably reduced, and obstacles are avoided.

Preferably, the air duct 101 is internally divided into a positive pressure cavity 101a and a negative pressure cavity 101b by the airfoil plate 5, one side of the chassis 1, on which the driving wheel set 4 is installed, is provided with a negative pressure layer forming port 101c communicated with the negative pressure cavity 101b, and negative pressure airflow is formed in the negative pressure cavity 101b to attract air flow at the bottom of the chassis 1, so that a negative pressure layer is formed between the bottom of the chassis 1 and the inner wall of the pipeline, thereby facilitating the chassis 1 to move on the inner wall of the pipeline in an adsorbing manner.

Preferably, be equipped with one end open-ended on the casing 2, and with the heavy groove of probe support plate 301 looks adaptation, the one end of probe support plate 301 is rotated and is installed in the open end of heavy groove, the setting of heavy groove is convenient for accomodating of probe support plate 301, be favorable to protecting the electronic components on probe support plate 301, and the one end of casing 2 is equipped with the spout that communicates heavy groove, slidable mounting has the protecting cover 7 that is used for in the spout, after probe support plate 301 is accomodate in heavy groove, sliding protecting cover 7, cover probe support plate 301, be favorable to pleasing to the eye when the device is accomodate promptly, probe support plate 301 has also been avoided receiving in accomodating the transportation and colliding with the extrusion and damage.

Further, a sliding ring 8 is vertically installed on each of the two side walls of the open end of the sinking groove, the first driving assembly 302 comprises a first motor 3021 installed in the two sides of the housing 2, and an output shaft of the first motor 3021 penetrates through a gear 3022 installed at one end of the sliding ring 8; the both sides of probe support plate 301 one end all are equipped with the shaft hole with sliding ring 8 matched with to and the inner tooth hole that meshes mutually with gear 3022, probe support plate 301 is including being used for forming half shaft hole and half detachable apron 3011 of inner tooth hole.

When the probe carrier plate 301 is mounted, the detachable cover 3011 is detached to expose half of the shaft hole and the internal tooth hole, and after the detachable cover 3011 is mounted on the probe carrier plate 301 in alignment with the slip ring 8 and the gear 3022, the slip ring 8 and the gear 3022 are mounted in the complete shaft hole and gear hole 301b by screws.

When the first motor 3021 fixed in the circumferential direction rotates, the probe carrier plate 301 is driven to rotate by the gear 3022 fixed in the circumferential direction of the probe carrier plate 1, so that the probe carrier plate 301 is accommodated in the sinking groove or lifted from the sinking groove, and when the probe carrier plate 301 rotates to be perpendicular to the inner wall of the pipeline, the ultrasonic probe 303 and the laser ranging probe 304 are positioned in front of the device to detect the condition of the running pipeline; when the device moves to the included angle of two sections of pipelines, the overturning angle of the probe carrier plate 301 is adjusted according to the included angle of the two sections of pipelines, so that the ultrasonic emission direction of the ultrasonic probe 303 is coaxial or parallel to the axis of the other section of pipeline, and then the ultrasonic probe 303 and the laser ranging probe 304 work to detect the blockage and siltation conditions in the other section of pipeline.

Further, the second driving assembly 305 includes a plurality of bases 3051 rotatably mounted on the probe carrier plate 301 at two sides, a synchronous link ring 3052 connected to the plurality of bases 3051, two transmission rods 3053 oppositely disposed and having one end hinged to the synchronous link ring 3052, a screw 3054 having a nut hinged to the other end of the transmission rod 3053, and a second motor 3055 driving the screw 3054; a plurality of bases 3051 are correspondingly arranged on the laser ranging probe 304 one by one, one end of each base 3051 is radially provided with a compensation groove 3051a penetrating through two sides of each base 3051, and a synchronous linkage ring 3052 penetrates through the compensation grooves 3051 a.

Two output shaft subtend settings of second motor 3055, the subtend setting of two transfer lines 3053 and the lower extreme end slope of drive screw 3054 articulated, when second motor 3055 drive screw 3054 rotated to one side, the lower extreme that screw 3054's nut drove transfer line 3053 kept away from each other, the vertical height that makes transfer line 3053 uprises, thereby with synchronous link ring 3052 lifting, synchronous link ring 3052 drives the medial extremity lift of base 3051, and make the outside end decline of base 3051. Similarly, when the second motor 3055 rotates reversely, the base 3051 moves reversely, so as to adjust the angle of the laser ranging probe 304 on the base 3051.

The compensation groove 3051a of the base 3051 is used for compensating for a horizontal displacement of the base 3051 during rotation, and preventing the base 3051 from being unable to swing due to the fact that the synchronous link ring 3052 limits the horizontal displacement of the base 3051.

Preferably, one side that drive wheelset 4 was installed to chassis 1 is the arc, wind channel 101 is equipped with a plurality of, and a plurality of wind channel 101 distributes around the axle center circumference of 1 arc side on chassis, the bottom on chassis 1 is the arc and is favorable to the formation on negative pressure layer, be favorable to chassis 1 "absorption" to travel on the pipeline inner wall, a plurality of wind channel 101 circumference distributes, it is parallel with the tangential of pipeline to make aerofoil 5, make pressure or lift direction on its aerofoil 5 mutually perpendicular with the pipeline inner wall, increase chassis 1's "absorption" effect.

The invention also provides a pipeline blockage positioning method based on ultrasonic waves and laser, which comprises the following steps:

Whether the pipeline is blocked and silted or not and the size and the volume of silting are judged by analyzing the ultrasonic image, the positions of the blockage and the silting are preliminarily analyzed and calculated, and then the positions of the blockage and the silting are accurately measured by laser ranging.

When the pipeline silts up, the height of the siltation of the blockage is generally gradually reduced in the conveying direction of the pipeline, so that laser can be irradiated on siltation at different distances by emitting laser forming an included angle with the axis of the pipeline and adjusting the incidence angle of the laser, and the length of a siltation section can be measured or siltation at different distances can be detected.

While the pipe blockage positioning device based on ultrasonic waves and laser provided by the present invention has been described in detail, for those skilled in the art, the idea of the embodiment of the present invention may be changed in the specific implementation and application scope, and in summary, the content of the present description should not be construed as limiting the present invention.

Claims

1. A pipeline blockage positioning device based on ultrasonic waves and laser is characterized by comprising a chassis (1), a shell (2) arranged on the chassis (1), and a detection mechanism assembly (3) arranged on the shell (2);

the detection mechanism assembly (3) comprises a probe carrier plate (301) and a first driving assembly (302), wherein one end of the probe carrier plate (301) is rotatably installed on the shell (2), the first driving assembly drives the probe carrier plate (301) to rotate, an ultrasonic probe (303) and a plurality of laser ranging probes (304) distributed around the ultrasonic probe (303) in a ray shape are installed on the probe carrier plate (301), and a second driving assembly (305) which drives the laser ranging probes (304) to swing in a reciprocating mode along the ray direction is installed on the probe carrier plate (301);

install driving wheel group (4) on chassis (1), just be equipped with wind channel (101) that run through its both ends in chassis (1), install airfoil plate (5) in wind channel (101), just be located in wind channel (101) the leading edge end of airfoil plate (5) installs propeller blade assembly (6).

2. The ultrasonic and laser-based pipe blockage positioning device as claimed in claim 1, wherein the air duct (101) is divided into a positive pressure cavity (101a) and a negative pressure cavity (101b) by the airfoil plate (5), and a negative pressure layer forming port (101c) communicated with the negative pressure cavity (101b) is formed in one side of the chassis (1) where the driving wheel set (4) is installed.

3. The ultrasonic and laser-based pipe blockage positioning device is characterized in that a sinking groove with one end open and matched with the probe carrier plate (301) is formed in the shell (2), one end of the probe carrier plate (301) is rotatably installed in the opening of the sinking groove, a sliding groove communicated with the sinking groove is formed in one end of the shell (2), and a protective cover (7) is slidably installed in the sliding groove.

4. An ultrasonic and laser based pipe blockage positioning device as claimed in claim 1, wherein a sliding ring (8) is vertically installed on each of two side walls of the open end of the sinking groove, the first driving assembly (302) comprises a first motor (3021) installed in two sides of the shell (2), and an output shaft of the first motor (3021) passes through a gear (3022) installed at one end of the sliding ring (8); the both sides of probe support plate (301) one end all be equipped with sliding ring (8) matched with shaft hole, and with gear (3022) engaged with's internal tooth hole mutually, probe support plate (301) are including being used for forming half the shaft hole and half the apron (3011) dismantled of interior tooth hole.

5. An ultrasonic and laser-based pipe blockage positioning device as claimed in claim 1, wherein the second driving assembly (305) comprises a plurality of bases (3051) rotatably mounted on the probe carrier plate (301) at two sides, a synchronous link ring (3052) connected with the bases (3051), a plurality of evenly distributed transmission rods (3053) with one end hinged on the synchronous link ring (3052), a screw rod (3054) with a nut hinged with the other end of the transmission rod (3053), and a second motor (3055) for driving the screw rod (3054); the plurality of bases (3051) are correspondingly arranged on the laser ranging probe (304) one by one, one end of each base (3051) is radially provided with a compensation groove (3051a) penetrating through two sides of each base, and the synchronous linkage rings (3052) penetrate through the compensation grooves (3051 a).

6. The ultrasonic and laser-based pipe blockage positioning device as claimed in claim 1, wherein one side of the chassis (1) on which the driving wheel set (4) is mounted is arc-shaped, the air channels (101) are provided in plurality, and the air channels (101) are circumferentially distributed around the axis of the arc-shaped side of the chassis (1).

7. A pipeline blockage positioning method based on ultrasonic waves and laser is characterized by comprising the following steps:

8. The method as claimed in claim 7, wherein when the deposition of the clogging material in the pipe is detected, a plurality of laser beams forming an angle with the axis of the pipe are emitted, and during the detection, the incident angles of the plurality of laser beams are gradually adjusted to scan the inner wall of the pipe section by section.

9. The method of claim 8, wherein the location of pipe blockage and siltation is preliminarily determined by analyzing the returned ultrasonic time and ultrasonic image, and the incidence angle range of the laser is determined according to the preliminarily determined blockage location and siltation location.