CN111578151A

CN111578151A - Flange water leakage detection node capable of being installed on multi-diameter pipeline and intelligent leakage monitoring system

Info

Publication number: CN111578151A
Application number: CN202010364722.0A
Authority: CN
Inventors: 王学义; 李金仓; 刘金岩
Original assignee: Dalian Minzu University
Current assignee: Dalian Minzu University
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-08-25

Abstract

The flange leakage detection node and the intelligent leakage monitoring system can be installed on a multi-pipe-diameter pipeline, belong to the field of pipeline leakage detection, and aim to solve the problem that detection nodes can be installed at different pipe-diameter positions through deformation, two annular profiles are arranged in parallel along the axial direction of the pipeline, each group of deformation plates in the two annular profiles are opposite, a plurality of opposite deformation plates are connected with a hinge hole at the central position through a fixing column, the two annular profiles are connected, and each fixing column is arranged into an annular support; the outside of two annular profiles, in at least one side, the support section of fixed column stretches out the hinge hole, and each support section is arranged into the ring shape along with the fixed column, and the effect has scalable, the strong advantage of flexibility, makes things convenient for the device to adjust the diameter according to the pipeline profile, all-round real-time supervision pipeline situation.

Description

Flange water leakage detection node capable of being installed on multi-diameter pipeline and intelligent leakage monitoring system

Technical Field

The invention belongs to the field of pipeline leakage detection, and relates to a flange leakage detection node and a leakage monitoring system.

Background

By applying advanced power electronic technology, information technology and intelligent management technology, the energy internet interconnects a large number of energy nodes such as a novel power network, an oil network, a natural gas network and the like which are composed of distributed energy collection devices, distributed energy storage devices and various loads. The energy internet realizes bidirectional flow of energy, and becomes a network for peer-to-peer exchange and sharing of energy.

The energy Internet meets the sustainable and green development requirements and is a future development trend. However, the development of the energy internet will bring about a larger number of more complicated energy transmission pipelines and heavier pipeline maintenance and monitoring work. For example, the complexity of the arrangement, length, connection nodes and the like of the whole heat supply pipeline is increasingly aggravated, the problem of leakage in pipeline transmission becomes increasingly serious, natural aging, chemical corrosion and other factors can cause the pipeline to break and cause leakage, the traditional method for manually monitoring the leakage (including leakage) of the pipeline is difficult to meet the monitoring requirement of the increasingly complicated composite energy heat supply pipeline, small-scale leakage can cause the reduction of heat supply efficiency and the problem of high energy consumption, if the leakage is not found timely, the whole machine room is easily caused to be in bright ocean, core components and even the whole heat supply system are scrapped, even casualties can be caused, and huge economic and social losses are caused.

The composite energy heat supply project is safer and more reliable, the landing of the project is accelerated, and a matched leakage monitoring system is researched and developed in a targeted manner. The current monitoring is usually fixed at a certain position, such as a camera, various sensors and the like, so as to collect field information, and the pipeline monitoring work with large area and long distance cannot be well met due to different pipeline line distribution situations, so that a more convenient pipeline leakage monitoring system for moving or positioning can be provided, and the urgent need is met.

Disclosure of Invention

In order to solve the problem that detection nodes can be installed at positions adaptive to different pipe diameters through deformation, the invention provides the following technical scheme: a flange water leakage detection node comprises a motor, a gear, a camera, a fixed column, a track and a variable pipe diameter outer contour, wherein the variable pipe diameter outer contour comprises two annular contours, each annular contour comprises a plurality of groups of deformation plates, one group of deformation plates comprises a first plate and a second plate, two ends of the first plate are a first plate part and a second plate part, two ends of the second plate are a first plate part and a second plate part, the two plates are hinged and crossly stacked into an X shape through a central position, the first plate part and the second plate part are two front branch end parts, and the second plate part are two rear branch end parts; two adjacent deformation plates of the plurality of deformation plates, wherein one plate of the rear deformation plate is hinged with two plates of the front deformation plate, one plate of the rear deformation plate is hinged with one plate of the front deformation plate, and the deformation plates of the rear deformation plate are surrounded to form a circular variable pipe diameter outer contour; the two annular profiles are arranged in parallel along the axial direction of the pipeline, in addition, each group of deformation plates in the two annular profiles are opposite, a plurality of opposite deformation plates are connected with a hinge hole at the central position through a fixed column, the two annular profiles are connected, and the fixed columns are arranged into an annular support; at least one side of the outer sides of the two annular profiles is provided with a support section of the fixed column extending out of the hinge hole, and the support sections are arranged into a ring shape along with the fixed column; the motor is supported by a support mechanism such as a rack or a pipeline, an output shaft of the motor is connected with a gear, the gear is meshed with the inner periphery of the crawler, the inner periphery of the crawler surrounds the periphery of the support section of the fixed column, the crawler is supported by the support sections which are arranged into a circular ring shape, a camera is arranged at a certain position of the periphery of the crawler, and the camera faces the inside of the two annular profiles.

A liquid leakage monitoring system comprises one or more than two combinations of flange water leakage detection nodes positioned at corresponding positions of a pipeline, a pipeline patrol robot, a pipeline patrol system capable of crossing obstacles, a pipeline cruise system, a pipeline liquid leakage detection water tray or a ground water leakage patrol system.

Has the advantages that: through the parallelogram to adjacent two sets of deformation board crossing formation, can change the distance of pin joint in the middle of these two sets of deformation boards, stretch or shrink each adjacent two sets of deformation boards for the distance of pin joint is elongated or is shortened, thereby can adjust the diameter of variable pipe diameter outline, therefore this structure has scalable, the strong advantage of flexibility, makes things convenient for the device to adjust the diameter according to the pipeline profile, all-round real-time supervision pipeline situation.

Drawings

Fig. 1 is a schematic structural diagram of a pipeline patrolling system capable of surmounting obstacles.

Fig. 2 is an exploded view of a transmission structure of the pipe walking robot.

Fig. 3 is a matching view of a fixed shaft, a worm wheel shaft and corresponding holes of the pipeline patrol robot.

Fig. 4 is a schematic view of the driven wheel mounting position.

FIG. 5 is a schematic view of the driven wheel mounted in an orientation.

Fig. 6 is a schematic structural diagram of a pipeline leakage detection water tray.

FIG. 7 is a schematic view of a ducted cruise system.

FIG. 8 is a schematic view of a pipeline cruise trolley.

FIG. 9 is a schematic diagram of the adsorption of the magnetor and the magnetic strip of the pipeline cruise trolley.

FIG. 10 is a top view of the pipeline cruise trolley.

Fig. 11 is a schematic structural view of a flange water leakage detection node.

FIG. 12 is a schematic diagram of a deformed plate structure of a flange water leakage detection node.

Fig. 13 is a block diagram of electronic control system module composition.

FIG. 14 is a cruise monitoring flow chart.

Wherein: 1. the semi-annular plate, 2, a worm wheel, 3, a worm, 4, a worm wheel shaft, 5, a fixed shaft, 6, an arc-shaped hole, 7, a first transverse gear, 8, a second transverse gear, 9, a transverse bevel gear, 10, a vertical bevel gear, 11, a connecting shaft, 12, a driving wheel, 13, a driven wheel, 14, a lead screw, 15, a lead screw motor, 16, a first motor, 17, a second motor, 18, an outer vertical plate, 19, an inner vertical plate, 20, a connecting plate, 21, a steering engine, 22, a water disc, 23, a wireless communication module, 24, a sensor, 25, a magnetic stripe, 26, a vehicle body, 27, a driving wheel, 28, a guide wheel, 29, a turning arm, 30, a motor, 31, a gear, 32, a camera, 33, a copper column, 34, a crawler belt, 35, a variable pipe diameter outer contour, 36, a first plate, 37, a second plate, 38, a first plate part, 39, a second plate part, 40, 41, a second plate part, 41. the magnetic motor 42, the main control board 43, the bend wheel 44, the wheel shaft 45, the base plate 46, the groove frame 47, the fixed block 48 and the motor.

Detailed Description

The utility model provides a pipeline inspection robot, includes annular portion, annular portion includes two ring segments group, and ring segment group is including controlling two semi-ring segments 1, and ring segment group can be constituteed to relative setting about two semi-ring segments 1, and two ring segment group axial parallel arrangement are located 1 axial interval parallel arrangement of left semi-ring segment and are constituteed left side semi-ring segment group, and 1 axial interval parallel arrangement of semi-ring segment that is located the right side constitutes right side semi-ring segment group.

Each side (left side and right side) worm gear shaft 4 axially penetrates through each side of the semi-annular sheets 1 which are arranged in parallel at intervals and is fixedly connected with each semi-annular sheet 1, and each side worm gear shaft 4 is fixedly connected with two semi-annular sheets 1 which are positioned on the outermost side in the axial direction at two axial terminal ends. In this embodiment, since there are only two annular plate groups and the left and right semi-annular plate groups formed by the two annular plate groups, the left and right semi-annular plate groups have two semi-annular plates 1, the left and right semi-annular plates 1 are arranged at intervals in the axial direction, and the two semi-annular plates 1 on each side are fixed by the worm gear shaft 4 on each side.

In the scheme only having two annular plate groups, the worm wheel 2 on the left and right sides is respectively positioned between the two semi-annular plates 1 on the left and right sides, and the worm wheel shaft 4 on each side between the two semi-annular plates 1 on the left and right sides penetrates through and is fixedly connected with the axial hole of the worm wheel 2 on each side.

According to the scheme, for the unilateral semi-annular sheet group, in the axial direction, the worm wheel 2 is arranged between the two semi-annular sheets 1 which are arranged at intervals, two terminals of the worm wheel shaft 4 are respectively fixed on the two semi-annular sheets 1, the two semi-annular sheets 1 are axially connected, the worm wheel shaft 4 penetrates through the worm wheel 2 arranged between the two semi-annular sheets 1, and the worm wheel shaft 4 is matched with an axial hole of the worm wheel 2 to form fixed connection. So that rotation of the worm wheel 2 can create a follow-up rotation of the worm wheel shaft 4 and rotation of the worm wheel shaft 4 can create a follow-up rotation of the semi-annular plates 1 of the respective side ring plate set. Specifically, the worm wheel 2 is a vertical worm wheel 2, and the rotation along the radial direction of the worm wheel shaft 4 enables the worm wheel shaft 4 to rotate in a follow-up manner, and the semi-annular sheets 1 on each side can rotate in a follow-up manner with the worm wheel shafts 4 on each side.

Preferably, the worm wheel shaft 4 is connected to the top end position of the semi-annular plate 1, so that the rotation range of the semi-annular plate 1 can be larger.

For the above solution, as shown in fig. 2, the worm 3 is vertically disposed, and the spiral teeth at the vertical bottom end of the worm 3 are meshed with the worm wheel 2 to form a staggered-axis gear pair, and the vertical top end of the worm 3 is provided with the first transverse gear 7, and the transverse gear is meshed with the transverse tooth surface of the vertical output shaft of the first motor 16.

The annular part is axially positioned between the two vertical plates, each semi-annular sheet 1 is provided with an arc-shaped hole 6, the fixed shaft 5 at each side penetrates through the arc-shaped holes 6 of the semi-annular sheets 1 arranged at intervals in the semi-annular sheet group at each side, and the fixed shaft 5 at each side is fixedly connected with the two vertical plates at two axial terminals. In the above solution with only two ring plate groups, two semi-ring plates 1 on the left side or the right side are arranged at intervals and have arc holes 6, in the axial direction, the fixed shaft 5 on each side is connected with the two semi-ring plates 1 on each side, the semi-ring plates 1 are connected, and the fixed shaft 5 on each side is fixed at the end on two vertical plates, through which a frame can be formed, in the preferred solution, the width of the arc hole 6 is substantially consistent with the diameter of the fixed shaft 5.

Preferably, the fixed shaft 5 and the worm wheel shaft 4 are vertically arranged in parallel, and the fixed shaft 5 is positioned below the worm wheel shaft 4.

By above-mentioned scheme, semi-annular piece 1 can follow up the rotation of worm-gear shaft 4, and semi-annular piece 1 can swing to adjust its and the horizontal distance of the pipeline that is surrounded by it, thereby can be to the pipeline package tight or wrap the pine, can adapt to different straight pipelines. And fixed axle 5 is for connecting semi-annular piece 1, and fixed with it with two risers, therefore, the position of fixed axle 5 is fixed, and fixed axle 5 is the axle that does not rotate promptly, in order to make semi-annular piece 1 can rotate smoothly, and the scheme is through opening arc hole 6 at semi-annular piece 1, when semi-annular piece 1 rotates and takes place horizontal and vertical displacement, dodge fixed axle 5 through arc hole 6.

For the above scheme, the top ends of the two vertical plates are directly or indirectly fixed at the lower end of the top plate, and the first motor 16 is fixed at the lower end surface of the top plate. Therefore, the output shaft of the first motor 16 is a vertical shaft, which rotates on the horizontal plane, and through the transmission of the transverse gear, the horizontal plane of the worm 3 rotates, the worm 3 is meshed with the worm wheel 2, the vertical plane of the worm wheel 2 rotates, and the vertical plane of the worm wheel shaft 4 connected with the worm wheel 2 rotates, so that the vertical shaft of the semi-annular sheet 1 fixed on the vertical shaft rotates, and as the semi-annular sheet 1 has an arc, the swing is formed through the rotation, the radius of the ring formed by the semi-annular sheets 1 on two sides changes, the radius increases or decreases, namely the bottom end part of the semi-annular sheet 1 opens or contracts, so that the ring is clamped or loosened to the worm wheel shaft 4, and the opening angle is continuously adjustable.

For the scheme, an axial hole of the vertical bevel gear 10 is matched with the wheel shaft 44, the wheel shaft 44 is matched with an axial hole of the driving wheel 12, the transverse bevel gear 9 is meshed with the vertical bevel gear 10, an axial hole of the transverse bevel gear 9 is matched with the connecting shaft 11, the transverse bevel gear 9 is located at the bottom end of the connecting shaft 11, the second transverse gear 8 is arranged at the top end of the connecting shaft 11, the second transverse gear 8 is meshed with a transverse tooth surface of a vertical output shaft of the second motor 17, and the second motor 17 is fixed on the lower end surface of the top plate.

Therefore, the output shaft of the motor is a vertical shaft which rotates on the horizontal plane, the horizontal bevel gear 9 rotates on the horizontal plane through the transmission of the horizontal gear, the vertical bevel gear 10 is meshed with the horizontal bevel gear 9, the vertical bevel gear 10 rotates on the vertical plane, the wheel shaft 44 fixed on the vertical bevel gear 10 rotates on the vertical plane, the driving wheel 12 fixed on the wheel shaft 44 rotates on the vertical plane, the driving wheel 12 can move along the axial direction of the worm wheel shaft 4, the axial direction of the worm wheel shaft 4 is the axial direction of the pipeline to be patrolled, namely, the axial direction of the worm wheel shaft 4 is the same direction as the axial direction of the pipeline, and the axial direction of the connecting shaft 11 is vertical to the axial direction of the.

In the solution described above, the top plate is equipped with at least three motors, namely two first motors 16 and one second motor 17, it is of course possible to have two second motors 17, namely two driving wheels 12 mounted in parallel in correspondence to travel in the duct. If only one driving wheel 12 is installed, it can be located between the worm gears 2 on the left and right sides, and if two driving wheels 12 are installed, two driving wheels 12 can be located between the worm gears 2 on the left and right sides, or can be located outside the worm gears 2 on the left and right sides.

By the above scheme, the pipeline patrol robot is driven by the motor output shaft and the bevel gears, so that the driving wheel 12 can move along the axial direction of the pipeline. Through motor output shaft and worm gear transmission for the semicircular sheet 1 of each side can the arc swing, makes the convex radius increase or the reduction of two semicircular sheet 1 formation, and the bottom portion of semicircular sheet 1 opens or contracts promptly, thereby can adapt to the tour of the pipeline of different pipe diameters.

In order to enable the driving wheel 12 above the pipeline to run more stably, in a preferred scheme, the pipeline patrol robot further comprises a lead screw motor 15, a lead screw 14 and a driven wheel 13, wherein the lead screw motor 15 is installed at the bottom end part of one, several or all of the semi-annular sheets 1, the lead screw motor is connected to the bottom end of the lead screw 14, the lead screw 14 faces the pipeline, the top end of the lead screw 14 is connected with the driven wheel 13, the wheel surface of the driven wheel 13 faces the pipeline surface, and when the driving wheel 12 runs, the length of the lead screw 14 is adjusted to enable the wheel surface of the driven wheel 13 to be in collision with the pipeline surface.

Lead screw motor fixes on base plate 45, and lead screw motor casing fixes groove frame 46, and lead screw 14 connects lead screw motor 15's output shaft, and is located groove frame 46's recess, and relative fixed frame 47 is installed on the top of two relative frames of groove frame 46, and fixed frame 47 is through the hub connection from driving wheel 13 for can pivoting from the driving wheel, its both sides of base plate 45 fix respectively between two adjacent and relative ring plate groups of an annular portion, two ring plate groups are adjacent and relative between two semi-ring plates of homonymy, respectively have a base plate 45 between two semi-ring plates on the left side and between two semi-ring plates on the right side, base plate 45 slope is fixed at semi-ring plate, and the face upwards, inwards (towards pipeline direction) slope, and the lead screw motor 15, lead screw 14, groove frame 46, fixed frame 47 fixed frame on base plate 45, Follow driving wheel 13 and all upwards along with bed plate 45, inwards (towards pipeline direction) slope for under the adjustment of lead screw slope length, can incline to be close to the pipeline from the driving wheel, and support and lean on at the pipeline, can roll along the pipeline and advance, and, can through offseting with the pipeline, help the locking effect of the worm gear mechanism of semiannular piece, make the swing deformation of semiannular piece maintain more stably, reduced gravity and resume initial position's influence to the semiannular piece.

This scheme is mainly upwards under through contradicting with the pipeline, supports semi-annular piece 1 and opens the angle and stably maintain, can follow pipe axial displacement from driving wheel 13, and lead screw 14 is extended or is shortened the pipeline that can adjust and adapt to different pipe diameters by the drive of lead screw motor 15, can advance and rotate from driving wheel 13 follow-up action wheel 12, plays the effect of direction to make the marcing of action wheel 12 more stable.

In addition, according to the scheme, when the diameter of the annular sheet group is enlarged, the worm gear 3 drives the worm gear 2 and the worm gear shaft 4 to swing outwards through worm gear transmission, the semi-annular sheet 1 swings outwards, the diameter of the annular sheet group is increased until the semi-annular sheet 1 reaches a position suitable for being matched with the pipe diameter, the worm gear 3 stops moving, the lead screw motor 15 drives the lead screw 14 to extend upwards in an inclined mode to be abutted against the surface of a pipeline, the swinging position of the semi-annular sheet 1 is supported and fixed, and the lead screw 14 supports the deformation of the semi-annular sheet 1.

In another scheme, when the diameter of the annular sheet group is enlarged, the worm gear 3 drives the worm gear 2 and the worm gear shaft 4 to swing outwards through worm gear transmission, the semi-annular sheet 1 swings outwards, the diameter of the annular sheet group is increased, the lead screw motor 15 synchronously drives the lead screw 14 to extend upwards in an inclined mode and always abut against the pipeline surface until the semi-annular sheet 1 reaches a position matched with the pipe diameter properly, the worm gear 3 and the lead screw 14 stop moving, and the lead screw 14 supports and fixes the swinging position of the semi-annular sheet 1 and supports the swinging deformation of the semi-annular sheet 1.

When reducing annular piece group diameter, lead screw motor 15 drive lead screw 14 slope shortens downwards to not influencing the swing of semi-annular piece 1, preferably to initial position (the position that lead screw 14 does not have extension length), through worm gear transmission, make worm 3 drive worm wheel 2 and worm-gear shaft 4 swing inwards, semi-annular piece 1 swings inwards, the diameter of annular piece group reduces, until when semi-annular piece 1 reaches suitable and pipe diameter complex position, worm 3 stop motion, and lead screw motor 15 drive lead screw 14 slope upwards extend to contradict with the pipeline face, the swing position of semi-annular piece 1 supports fixedly, lead screw 14 supports the deformation of semi-annular piece 1 swing.

In another scheme, when the diameter of the annular sheet group is reduced, the worm gear 3 drives the worm gear 2 and the worm gear shaft 4 to swing inwards through worm gear transmission, the semi-annular sheet 1 swings inwards, the diameter of the annular sheet group is reduced, the lead screw motor 15 synchronously drives the lead screw 14 to incline and shorten downwards, the lead screw 14 always abuts against the pipeline surface, and the worm gear 3 and the lead screw 14 stop moving until the semi-annular sheet 1 reaches a position suitable for being matched with the pipe diameter. In another scheme, when the diameter of the annular sheet group is reduced, the worm gear and the worm are used for transmission, so that the worm 3 drives the worm gear 2 and the worm gear shaft 4 to swing inwards, the semi-annular sheet 1 swings inwards, the diameter of the annular sheet group is reduced, the lead screw motor 15 synchronously drives the lead screw 14 to incline and shorten downwards, the shortening speed of the lead screw 14 is faster than the swinging speed of the semi-annular sheet 1, when the semi-annular sheet 1 reaches a position matched with the pipe diameter, the worm 3 stops moving, the lead screw motor 15 drives the lead screw 14 to incline and extend upwards to be abutted against the surface of a pipeline, and the lead screw 14 supports the deformation of the semi-annular sheet 1.

By the scheme, the driven wheel 13 is matched with the lead screw 14 to achieve the function of supporting the variable pipe diameter. The lead screw 14 is connected with the driven wheel 13, and converts rotary motion into linear motion, and the lead screw 14 has the characteristics of high transmission efficiency and accurate positioning. The driven wheel 13 can be accurately pushed to a position adapted to the pipe diameter.

Preferably, the first motor 16 and the second motor 17 are N20 motors, and the worm gear transmission is selected, so that the worm gear is matched with the motors, the characteristic that the force direction can be changed by using the worm gear is taken into consideration, the normal N20 motor horizontally generates acting force, the N20 motor vertically generates acting force through the worm gear pair, the space is saved, the force direction is changed, the force generated by the motors can be increased, and the problem of small force of the N20 motor is solved.

By the proposal, the semi-annular sheet 1 of the annular sheet group is adapted to the pipe diameter after swinging, the expanding or contracting degree is fixed, namely, the motor does not rotate at the moment and adjusts the opening angle of the semi-annular sheet 1, the worm gear pair has self-locking property, when the lead angle of the worm 3 is smaller than the equivalent friction angle between the teeth of the meshing wheel, can realize reverse self-locking, only the worm 3 can drive the worm wheel 2 to rotate, the opening angle of the semi-annular sheet 1 is maintained in a power-off state, the semi-annular sheet 1 cannot cause the reverse rotation of the worm wheel 2 due to factors such as gravity and the like, so that the semi-annular sheet 1 descends (the opening angle is reduced), the opening angle of the semi-annular sheet 1 is stably maintained due to self-locking, therefore, the robot can run more smoothly, and the opening angle of the semi-annular sheet 1 is supported through the inward and upward passing pipeline of the lead screw 14 and the driven wheel 13, so that the opening angle of the semi-annular sheet 1 is maintained stably.

Compared with the scheme of directly using the steering engine 21 as a rotating mechanism to adjust the opening angle of the semicircular sheet 1, the steering engine 21 needs to be electrified to maintain the opening angle, the stability of a power supply directly influences the stability of the opening angle of the semicircular sheet 1, particularly for a large-diameter pipeline, the semicircular sheet 1 needs to be expanded outwards, and the steering engine 21 is electrified for a long time to ensure that the rotating angle (the opening angle) is maintained, the steering engine 21 is burnt due to the fact that a large angle is maintained to be expanded for a long time, therefore, the opening angle is maintained particularly in the expanded state for how to maintain the semicircular sheet 1, the scheme of the invention adopts the transmission of the motor-driven worm gear and worm pair, only needs electricity when the angle is adjusted, the power is cut off when the opening angle is maintained, the motor is prevented from being burnt, the problems are solved, the semicircular sheet 1 is always in a stable self-maintaining state after the opening angle is adjusted, the stability that the angle of opening was maintained has been guaranteed, the stable smoothness nature of robot walking has realized that the robot can be longer stable tour the walking, and is lower to the power requirement to can reduce power consumptively, it is long when increasing battery continuation of the journey, same electric quantity has leaded to the difference to the robot tour time of different grade type, the battery charging time of having reduced as far as possible, to the large tracts of land, long pipeline tour this scheme more have the advantage, also practiced thrift the electric energy at a certain extent.

The worm gear pair can only drive worm wheel 2 by worm 3, and can not drive worm 3 by worm wheel 2, the reverse support of lead screw 14 can not lead to worm wheel 2 to drive worm 3 reversal, from driving wheel 13 upwards, inwards set up in semi-annular piece 1 bottom, can be with the pipeline at this orientation contact, and with the reverse auto-lock cooperation of worm gear, the direction has been played, cooperation action wheel 12 smoothly moves, the effect of support semi-annular piece 1 opening angle (supporting role mainly makes from driving wheel 13 and pipeline face conflict through adjusting lead screw 14, semi-annular piece 1 produces the power of expanding outward, prevent semi-annular piece 1 shrink), and if can not adjust from driving wheel 13 upwards to the inside adjustment of pipeline through lead screw 14, from driving wheel 13 and pipeline face can not produce conflict, even the contact is difficult to satisfy, can not play the effect of support. And the semi-annular sheet 1 expands slightly, which may cause the driven wheel 13 not to contact the pipeline surface, and cannot play a role in guiding and matching the driving wheel 12 to move smoothly. The driven wheel 13 is a burden of maintaining the opening angle of the semi-annular segment 1 in order to contact the pipeline surface, so that the steering engine 21 needs to bear more pressure.

In another embodiment, the pipeline patrol robot including two ring segments of one ring segment is extended to more than two ring segments, as shown in fig. 3, each ring segment has two ring segments, so that the pipeline patrol robot is more stable, and the pipeline patrol robot includes more than two ring segments and a connecting portion, wherein the connecting portion connects two adjacent ring segments. The annular part includes two at least ring segments group, and in the concrete scheme, including four ring segments group of two annular parts, ring segment group is including controlling two semi-ring segments 1, and two semi-ring segments 1 are controlled and are set up relatively and can constitute ring shape piece, and the ring segment group axial parallel arrangement of annular part is located 1 axial interval parallel arrangement of left semi-ring segment and is constituteed left side semi-ring segment, and the semi-ring segment 1 axial interval parallel arrangement that is located the right side constitutes right side semi-ring segment.

As shown in fig. 3, the annular portion has its vertical plate group in the axial direction, and each annular portion is located between two vertical plates of its vertical plate group in the axial direction, that is, two annular plate groups of the annular portion are located between two vertical plates in the axial direction, so as to form an arrangement of vertical plate-annular plate group-vertical plate, and as a preferable scheme, two adjacent semi-annular plates 1 on the same side are fixed by an axial connecting plate 20, so that the stability of the semi-annular plates 1 can be improved, and preferably the connecting plate 20 is connected to the top ends of the two semi-annular plates 1.

Of the vertical plates, two vertical plates located at the outermost side in the axial direction are outer vertical plates 18, and the rest vertical plates located between the two outer vertical plates 18 are inner vertical plates 19.

As shown in fig. 1 and 3, the semi-annular plates 1 (left and right sides) on each side are arranged in parallel at an axial interval, each semi-annular plate 1 (four semi-annular plates 1 in the case of two annular parts) on each side is provided with an arc hole 6, the fixing shaft 5 on each side penetrates through the arc holes 6 of the semi-annular plates 1 on each side arranged in parallel at an interval and the inner vertical plate 19, and the axial hole (first axial hole) of the inner vertical plate 19 is fixedly matched with the fixing shaft 5 to form a fixed connection. Even if the inner vertical plate is provided with an arc-shaped hole, the inner vertical plate is fixed because the fixing shaft 5 is fixed. Of course, this also applies to the outer vertical plate. However, since the semi-annular piece rotates, the arc-shaped hole is formed, and the fixed shaft cannot follow up when the semi-annular piece swings. The two terminal ends of the fixed shaft 5 on each side in the axial direction are fixedly connected to the two outer vertical plates 18 on the outermost sides in the axial direction. The fixed shaft 5 penetrates through all the semi-annular sheets 1, the left side and the right side of each fixed shaft 5 are respectively provided with one fixed shaft 5, the fixed shafts 5 axially connect different semi-annular sheets 1 on the same side, and the fixed shafts 5 are non-rotating shafts. The main function is to arrange and fix the vertical plates to form a frame. The stationary shaft 5 belongs to the connection, as can be seen.

As shown in fig. 3, according to the above solution, two ring plate sets are fixed by an axial connecting plate 20, and two vertical plates located between them are both fixed on the fixed shaft 5, and the fixed shaft 5 penetrates through the two ring plate sets, preferably, the vertical plates are in close contact with the outer side surface of the nearest ring plate set, so that the vertical plates do not hinder the rotation of the ring plate sets, but can limit the ring plate sets by the contact of the vertical plates.

As shown in fig. 3, in the above solution, the left or right semi-annular sheets 1 are arranged at intervals (in the solution, four semi-annular sheets 1) and have arc-shaped holes 6, the fixing shaft 5 on each side is connected with the semi-annular sheets 1 on each side in the axial direction, the semi-annular sheets 1 are connected, the fixing shaft 5 on each side is fixed on two vertical plates at the end, a frame can be formed by the vertical plates, and in the preferred solution, the width of the arc-shaped hole 6 is substantially consistent with the diameter of the fixing shaft 5. Because the semi-annular piece group is swung along with the worm wheel shaft 4, the semi-annular piece 1 is provided with an arc-shaped hole 6, namely when the semi-annular piece 1 swings, the fixed shaft 5 is fixed in position, and the swing of the worm wheel shaft 4 is not blocked by the arc-shaped hole 6.

As shown in fig. 3, the worm gear shaft 4 on each side axially penetrates through the semi-annular sheets 1 and the inner vertical plate 19 arranged in parallel at intervals on each side and is fixedly connected with each semi-annular sheet 1, the worm gear shaft 4 on each side is fixedly connected to the two semi-annular sheets 1 located on the outermost side in the axial direction at two axial ends, the worm gear shaft 4 penetrates through the inner vertical plate 19 and is matched with the inner vertical plate 19, the inner peripheral surface of the axial hole (second axial hole) of the worm gear shaft 4 and the inner vertical plate 19 is not contacted or connected through a bearing, so that the worm gear shaft 4 is not fixedly connected with the second axial hole of the inner vertical plate 19, and the rotation of the worm gear shaft 4 does not cause the follow-up rotation of the inner vertical plate 19. The worm gear shaft 4 penetrates through all the semi-annular sheets 1, the left side and the right side of the semi-annular sheets are respectively provided with one worm gear shaft 4, and different annular parts are fixedly connected in the axial direction by the worm gear shafts 4. The rotation of the worm wheel shaft 4 drives the following rotation of the semi-annular sheet 1.

The top plate motor, the worm gear and worm gear pair, the conical gear pair, the transverse gear and other components for driving and transmission are arranged between two annular parts, namely between two adjacent annular parts, between the rear vertical plate of the front annular part and the front vertical plate of the rear annular part (of course, the space is also the space penetrated by the worm gear shaft 4 and the fixed shaft 5). Of course, when there are a plurality of annular portions, there may be a plurality of spaces that can be formed, and driving and transmission components may be installed between one group of adjacent annular portions, or driving and transmission components may be installed between each group of adjacent annular portions, or driving and transmission components may be installed between several groups of adjacent annular portions.

The driving and transmission components are fixed by means of a top plate, which is thus axially fixed between the rear vertical plate of the previous annular portion and the front vertical plate of the subsequent annular portion, which connects two adjacent annular portions, which, as can be seen, also belong to the connection, preferably between the two said rear vertical plates and the top end of the front vertical plate. The worm wheel 2 is positioned between the rear vertical plate of the front annular part and the front vertical plate of the rear annular part of one or more adjacent annular parts.

Of course, the components for drive and transmission can also be mounted between two ring segments of one or more ring segments, as shown in fig. 1, as preferred. In this solution, there is an axial half-ring section between two half-ring segments 1 of the two half-ring segment groups on each side, and the worm wheel 2 is located in one or more axial half-ring sections, in one solution there is one worm wheel 2, with two half-ring segments 1 on both sides. And the worm wheel shaft 4 is positioned in the axial semi-ring sections on each side, penetrates through the axial hole of the worm wheel 2 and is fixedly connected with the axial hole.

In the above-described configuration, as shown in fig. 3, for the single-sided semi-annular pieces 1 arranged in parallel at intervals in the axial direction, the worm wheel 2 is located between the rear vertical plate of the preceding annular portion and the front vertical plate of the following annular portion of one or more adjacent annular portions. It is preferable that the number of the ring portions at the center position in the axial direction of the semi-ring plate 1, i.e., at both sides of the worm wheel 2, be equal. When there are two rings, the worm wheel 2 is located between the two rings, making the device more balanced.

As shown in fig. 3, both ends of the worm gear shaft 4 are respectively fixed on the two outermost semi-annular sheets 1, the semi-annular sheets 1 are axially connected, the worm gear shaft 4 penetrates through the worm gear 2 between the semi-annular sheets 1, and the worm gear shaft 4 is matched with the axial hole of the worm gear 2 to form fixed connection. So that rotation of the worm wheel 2 can create a follow-up rotation of the worm wheel shaft 4 and rotation of the worm wheel shaft 4 can create a follow-up rotation of the semi-annular plates 1 of the respective side ring plate set. Specifically, the worm wheel 2 is a vertical worm wheel 2, and the rotation along the radial direction of the worm wheel shaft 4 enables the worm wheel shaft 4 to rotate in a follow-up manner, and the semi-annular sheets 1 on each side can rotate in a follow-up manner with the worm wheel shafts 4 on each side.

As shown in fig. 2, for the above solution, the vertically arranged worm 3 has its spiral teeth at the vertical bottom end meshed with the worm wheel 2 to form a staggered-axis gear pair, and the vertical top end of the worm 3 is provided with the first transverse gear 7, and the transverse gear is meshed with the transverse tooth surface of the vertical output shaft of the first motor 16.

Preferably, as shown in fig. 2 and 3, the fixed shaft 5 and the worm wheel shaft 4 are vertically arranged in parallel, and the fixed shaft 5 is located below the worm wheel shaft 4.

By above-mentioned scheme, semi-annular piece 1 can follow up the rotation of worm-gear shaft 4, and semi-annular piece 1 can swing to adjust its and the horizontal distance of the pipeline that is surrounded by it, thereby can be to the pipeline package tight or wrap the pine, can adapt to different straight pipelines. And fixed axle 5 is for connecting semi-annular piece 1, and through fixed axle 5, fixes it with the riser, therefore, the position of fixed axle 5 is fixed, and fixed axle 5 is the axle that does not rotate promptly, for making semi-annular piece 1 can rotate smoothly, the scheme is through opening arc hole 6 at semi-annular piece 1, when semi-annular piece 1 rotates and takes place horizontal and vertical displacement, dodge fixed axle 5 through arc hole 6.

For the above solution, as shown in fig. 1 and fig. 2, the rear vertical plate of the previous annular portion and the front vertical plate of the next annular portion of the two adjacent annular portions are directly or indirectly fixed at the lower end of the top plate, and the first motor 16 is fixed at the lower end surface of the top plate. It can be known from this that, the output shaft of first motor 16 is vertical axis, it rotates at the horizontal plane, through horizontal gear drive, make worm 3 horizontal plane rotate, through worm 3 and worm wheel 2 meshing, worm wheel 2 vertical plane rotates, and worm wheel shaft 4 vertical plane that worm wheel 2 is connected rotates, then fix the vertical axis rotation of the semi-annular piece 1 of vertical axis, because semi-annular piece 1 has the circular arc, form the swing through rotating in other words, make the radius change of the ring that both sides semi-annular piece 1 formed, the increase or the reduction of radius, the bottom portion of semi-annular piece 1 opens or contracts promptly, it has led to this ring to have carried out the clamp or unclamped to worm wheel shaft 4.

For the scheme, as shown in fig. 2, an axial hole of the vertical bevel gear 10 is matched with the wheel shaft 44, the wheel shaft 44 is matched with an axial hole of the driving wheel 12, the horizontal bevel gear 9 is meshed with the vertical bevel gear 10, an axial hole of the horizontal bevel gear 9 is matched with the connecting shaft 11, the horizontal bevel gear 9 is located at the bottom end of the connecting shaft 11, the top end of the connecting shaft 11 is provided with the second horizontal gear 8, the second horizontal gear 8 is meshed with a horizontal tooth surface of a vertical output shaft of the second motor 17, and the second motor 17 is fixed on the lower end surface of the top plate.

In the solution described above, as shown in fig. 2, the top plate is equipped with at least three motors, namely two first motors 16 and one second motor 17, but it is of course possible to have two second motors 17, namely two drive wheels 12 mounted in parallel in each case running in the duct. If only one driving wheel 12 is installed, it can be located between the worm gears 2 on the left and right sides, and if two driving wheels 12 are installed, two driving wheels 12 can be located between the worm gears 2 on the left and right sides, or can be located outside the worm gears 2 on the left and right sides.

In order to make the driving wheel 12 above the pipeline travel more stably, in a preferred scheme, as shown in fig. 4 and 5, the pipeline patrol robot further comprises a lead screw motor 15, a lead screw 14 and a driven wheel 13, wherein the lead screw motor 15 is mounted at the bottom end part of one, several or all of the semi-annular sheets 1, the lead screw 14 is connected at the bottom end of the lead screw 14, the lead screw 14 faces the pipeline, the top end of the lead screw 14 is connected with the driven wheel 13, the wheel surface of the driven wheel 13 faces the pipeline surface, and when the driving wheel 12 travels, the length of the lead screw 14 is adjusted, so that the wheel surface of the driven wheel 13 is in contact with the pipeline surface, and further the opening angle of the semi-annular sheets 1 is supported, and the driving wheel 12 can follow along the axial direction of the pipeline, and. The preferred scheme is that the guide screw 14 is driven by a guide screw motor 15 to extend or shorten, can adjust and adapt to pipelines with different pipe diameters, and the driven wheel 13 can rotate along with the advancing of the driving wheel 12, so that the guide effect is achieved, and the advancing of the driving wheel 12 is more stable.

As shown in fig. 5, the screw motor is fixed on the base plate 45, the screw motor housing fixes the groove frame 46, the screw 14 is connected with the output shaft of the screw motor 15 and is located in the groove of the groove frame 46, the opposite fixing frames 47 are installed on the top ends of the two opposite frames of the groove frame 46, the fixing frames 47 are connected with the driven wheel 13 through the shaft, so that the driven wheel can rotate around the shaft, the two sides of the base plate 45 are respectively fixed between the two adjacent and opposite annular plate sets of an annular part, the two adjacent and opposite annular plate sets on the same side between the two annular plate sets, namely, the base plate 45 is respectively arranged between the two half annular plate sets on the left side and the two half annular plate sets on the right side, the base plate 45 is obliquely fixed on the two annular plate sets, the plate surface is upward and is inclined inward (towards the pipeline direction), and the screw motor 15, the screw 14 and the groove, The fixing frame 47 and the driven wheel 13 are inclined upwards and inwards (towards the direction of the pipeline) along with the base plate 45, so that the driven wheel can be inclined to be close to the pipeline under the adjustment of the inclined length of the lead screw, and can be abutted against the pipeline to roll along the pipeline to advance, and can be abutted against the pipeline to assist the locking effect of the worm and gear mechanism of the semicircular piece, so that the swinging deformation of the semicircular piece is maintained more stably, and the influence of gravity on the recovery initial position of the semicircular piece is reduced.

The embodiment makes the semi-annular piece open the angular adjustment back, is in stable self-sustaining state always, does not need the real-time circular telegram of slewing mechanism to exert the problem of power, can guarantee to open the stability that the angle was maintained, and the stability of robot walking is smooth. The semi-ring piece swing back adaptation pipe diameter of ring piece group has been realized, the robot can stably patrol at different pipelines, and semi-ring piece enlarges or reduces the degree in case by fixed, the motor need not rotate and adjust the opening angle of semi-ring piece, utilize worm gear worm pair to have self-locking nature, only can drive the worm wheel by the worm and rotate, the opening angle that has realized the outage state to semi-ring piece is maintained, semi-ring piece can not lead to the worm wheel antiport because of factors such as gravity, make semi-ring piece reduce and open the angle, open the angle and stably maintain semi-ring piece because of the self-locking and open the angle, make the robot march more smoothly.

In order to enable the inspection robot to achieve the obstacle crossing function, in a preferred scheme, a pipeline inspection system capable of crossing obstacles during inspection is provided, as shown in fig. 1, which comprises two pipeline inspection robots, namely a first inspection robot and a second inspection robot, wherein a rear vertical plate (a vertical plate at the outermost side axially behind) of one inspection robot (the first inspection robot) is provided with a steering engine 21, a swing arm of the steering engine 21 is connected with the rear vertical plate, a front vertical plate (a vertical plate at the outermost side axially in front) of the other inspection robot (the second inspection robot) is provided with a steering engine 21, the swing arm of the steering engine 21 is connected with a front vertical plate, bodies of the two steering engines 21 are fixedly connected, and the fixed shaft 5 at each side is fixed on the two vertical plates at a terminal, and can form a frame through the vertical plates, so that the steering engine 21 can be connected with one vertical plate, its swing arm can carry out swing control to frame (whole of the robot that patrols), and of course this kind of control mainly is including vertical swing arm swing, certainly, to the swing of other angles that steering wheel 21 can realize, also can be suitable for this scheme, should include vertical swing arm swing at least at that time, is being used in this system at the steering wheel 21 that can realize swing arm horizontal hunting, then can realize turning robot's turn function.

When the first patrol robot encounters an obstacle of a pipeline, the first patrol robot opens the semi-annular sheets 1 by adjusting the semi-annular sheets 1 to increase the diameter of the annular shape of the two semi-annular sheets 1 in a group, the distance between the bottom ends of the two semi-annular sheets 1 is increased until the annular shape of the two semi-annular sheets 1 exceeds the diameter of the pipeline, a steering gear 21 of the first patrol robot is controlled to swing upwards in a swing arm, so that the annular sheet group of the first patrol robot is lifted upwards, the bottom of each semi-annular sheet 1 is higher than the pipeline, a driving gear 12 of the second patrol robot continues to move, so that the first patrol robot is lifted to the position above the pipeline and crosses the obstacle (the obstacle can be a flange), the steering gear 21 of the first patrol robot is controlled to swing downwards, so that the annular sheet group of the first patrol robot descends, and each semi-annular sheet 1 is recovered to the periphery of the pipeline, the first patrol robot is contracted by adjusting the semi-annular sheets 1, so that the diameters of the circular rings of the two semi-annular sheets 1 in a group are reduced, the distance between the bottom ends of the two semi-annular sheets 1 is reduced until the radius of the circular ring formed by the two semi-annular sheets 1 is restored to be equal to the pipe diameter (preferably, the wheel surface of the driven wheel 13 contacts the pipeline surface again), and the first patrol robot can continue to move forwards through the driving wheel 12; when the second inspection robot encounters the same obstacle in the traveling process, the second inspection robot opens the semi-annular sheets 1 by adjusting the semi-annular sheets 1 to increase the diameter of the circular rings of the two semi-annular sheets 1 in a group, the distance between the bottom ends of the two semi-annular sheets 1 is increased until the circular rings of the two semi-annular sheets 1 exceed the diameter of a pipeline, a steering gear 21 of the second inspection robot is controlled to swing upwards in a swing arm so that the circular ring group of the second inspection robot is lifted upwards, the bottom of each semi-annular sheet 1 is higher than the pipeline, a driving gear 12 of the first inspection robot continues traveling so that the second inspection robot is lifted to be above the pipeline and cross the obstacle, the steering gear 21 of the second inspection robot is controlled to swing downwards in a swing arm so that the circular ring group of the second inspection robot descends, each semi-annular sheet 1 is restored to the periphery of the pipeline, the second inspection robot contracts by adjusting the semi-annular sheets 1, the diameter of the circular ring shape of the two semi-ring-shaped sheets 1 in a group is reduced, and the distance between the bottom ends of the two semi-ring-shaped sheets 1 is reduced until the radius of the circular ring shape formed by the two semi-ring-shaped sheets 1 is restored to be equivalent to the pipe diameter (preferably, the wheel surface of the driven wheel 13 contacts the pipeline surface again).

When turning, the concrete scheme is as follows: when the first patrol robot encounters a corner of a pipeline, the first patrol robot opens the semi-annular sheets 1 by adjusting the semi-annular sheets 1 to increase the diameter of the annular shape of the two semi-annular sheets 1 in a group and increase the distance between the bottom ends of the two semi-annular sheets 1 until the annular shape of the two semi-annular sheets 1 exceeds the diameter of the pipeline, a steering engine 21 of the first patrol robot is controlled to swing up in a swing arm so that the annular sheet group of the first patrol robot is lifted up, the bottom of each semi-annular sheet 1 is higher than the pipeline, the first patrol robot is lifted up to the upper part of the pipeline, a swing arm is controlled to swing laterally in a turning direction, when the axial direction (the axial direction of the robot, a guide shaft or a fixed shaft 5) is consistent with the axial direction of the pipeline after turning, the steering engine 21 of the first patrol robot is controlled, the swing arm swings down so that the annular sheet group of the first patrol robot descends, and each semi-annular sheet 1 is recovered to the periphery of the pipeline, the first inspection robot shrinks by adjusting the semi-annular sheets 1, so that the diameters of the circular rings of the two semi-annular sheets 1 in a group are reduced, and the distance between the bottom ends of the two semi-annular sheets 1 is reduced until the radius of the circular ring formed by the two semi-annular sheets 1 is restored to be equal to the pipe diameter (preferably, the wheel surface of the driven wheel 13 contacts the pipeline surface again).

The second patrol robot controls the steering engine 21 of the second patrol robot by adjusting the opening of the semi-annular sheets 1 to increase the diameter of the annular shape of the two semi-annular sheets 1 in a group and increase the distance between the bottom ends of the two semi-annular sheets 1 until the annular shape of the two semi-annular sheets 1 exceeds the diameter of a pipeline, the swing arm of the second patrol robot swings upwards to lift the annular sheet group of the second patrol robot, the bottom of each semi-annular sheet 1 is higher than the pipeline, the driving wheel 12 of the first patrol robot continues to move on the pipeline after turning, so that the second patrol robot is lifted above the pipeline and crosses a corner, the steering engine 21 of the second patrol robot is controlled to control the swing arm to swing along the reverse side of the turning, and when the axial direction (the axial direction of the robot, the guide shaft or the fixed shaft 5) is consistent with the axial direction of the pipeline after turning, the swing arm of the steering engine 21 is controlled to swing downwards to enable the annular sheet group of the second patrol robot to descend, each semicircular piece 1 is recovered to the periphery of the pipeline, and the second inspection robot shrinks through adjusting the semicircular pieces 1, so that the diameters of the circular rings of the two semicircular pieces 1 which are a group are reduced, the distance between the bottom ends of the two semicircular pieces 1 is reduced, and the radius of the circular ring formed by the two semicircular pieces 1 is recovered to be equal to the pipe diameter (preferably, the wheel surface of the driven wheel 13 is contacted with the pipeline surface again).

Certainly, in another scheme, the second patrol robot is opened by adjusting the semi-annular sheets 1, so that the diameters of the circular rings of the two semi-annular sheets 1 in a group are increased, the distance between the bottom ends of the two semi-annular sheets 1 is increased until the circular rings of the two semi-annular sheets 1 exceed the diameter of the pipeline, the steering engine 21 of the second patrol robot is controlled, the swing arm of the second patrol robot swings upwards, the group of the annular sheets of the second patrol robot is lifted, and the bottom of each semi-annular sheet 1 is higher than the pipeline. Controlling a steering engine 21 of the second patrol robot, controlling the swing arm to swing along the reverse side of the turn, when the axial direction (the axial direction of the robot, the guide shaft or the fixed shaft 5) is consistent with the axial direction of the turned pipeline, the driving wheel 12 of the first patrol robot continues to move on the turned pipeline, so that the second patrol robot is lifted to the upper part of the pipeline and passes through a corner, controlling the swing arm of the steering engine 21 to swing downwards, so that the annular piece group of the second patrol robot descends, each semi-annular piece 1 is recovered to the periphery of the pipeline, the second patrol robot contracts by adjusting the semi-annular pieces 1, so that the diameter of the annular shape of the two semi-annular pieces 1 in a group is reduced, the distance between the bottom ends of the two semi-annular pieces 1 is reduced, and the radius of the annular shape formed by the two semi-annular pieces 1 is recovered to be equivalent to the pipe diameter (preferably, the wheel surface of the driven wheel 13 is contacted with the. The transmission effect of the worm gear pair is obvious when the obstacle is crossed, the angle of the swing arm of the obstacle crossing is generally 40-60 degrees when the obstacle is crossed, the steering engine 21 is safe, however, the outward expansion angle of the semi-annular sheet 1 basically reaches 90 degrees when the obstacle is crossed, the steering engine 21 needs to be maintained at the angle for a period of time, the steering engine 21 needs to be electrified to be maintained at the swing angle for a period of time, the swing arm angle is actively maintained, the motor can be burned out greatly, and the worm gear pair is passively supported without being electrified, so that the influence is little. Pipeline inspection robot's outermost riser, or roof, or other can carry out fixed position, installation sensor and wireless communication module, through the sensor to environmental information collection, especially to the environmental information collection that can reflect the pipeline weeping, can realize the monitoring to the pipeline weeping, the sensor include: raindrop detection sensor, temperature sensor, humidity transducer etc. can also install the camera, to appointed regional pipeline shooting photo, reflect the pipeline weeping condition through the photo, for example manual judgement, or current judgement techniques such as machine learning judgement can all realize this purpose. The pipeline patrols the robot and can install orientation module, accurately sends the position of patrolling oneself to can fix a position the position of shooing, in a scheme, can send shooting image and positional information through wireless transmission module together, in case confirm the pipeline weeping that this image reacts, then can know the shooting position of this image, make clear and determine the weeping position. This embodiment can carry out the line of going that lifts up of timesharing to pipeline inspection robot through the control to the steering wheel, has realized that pipeline inspection robot can hinder the inspection more, and still further can realize its turn and patrol.

The pipeline inspection robot in each scheme briefly comprises more than two annular parts, each annular part comprises two annular sheet groups, each annular sheet group comprises a left semi-annular sheet 1 and a right semi-annular sheet 1, the two semi-annular sheets 1 are oppositely arranged left and right to form annular sheets, the annular sheet groups of the annular parts are axially arranged in parallel, the semi-annular sheets 1 on the left side are axially arranged in parallel at intervals to form a left semi-annular sheet group, and the semi-annular sheets 1 on the right side are axially arranged in parallel at intervals to form a right semi-annular sheet group; the annular parts are provided with corresponding vertical plate groups in the axial direction, each annular part is positioned between two vertical plates of the vertical plate group in the axial direction, and two adjacent semi-annular sheets 1 on the same side are fixed through a connecting plate 20 in the axial direction; two vertical plates which are positioned on the outermost side in the axial direction are outer vertical plates 18, and the rest vertical plates positioned between the two outer vertical plates 18 are inner vertical plates 19; the semi-annular sheets 1 arranged in parallel at axial intervals on each side are provided with arc-shaped holes 6, the semi-annular sheets 1 on each side are provided with the arc-shaped holes 6, the fixed shafts 5 on each side penetrate through the arc-shaped holes 6 of the semi-annular sheets 1 arranged in parallel at intervals on each side and the inner vertical plates 19, and the axial holes of the inner vertical plates 19 are fixedly matched with the fixed shafts 5 to form fixed connection; two axial terminals of the fixed shaft 5 on each side are fixedly connected to two outer vertical plates 18 positioned on the outermost sides in the axial direction, the fixed shaft 5 penetrates through all the semi-annular sheets 1, one fixed shaft 5 is respectively arranged on the left side and the right side, and the fixed shaft 5 axially connects different semi-annular sheets 1 on the same side; the worm wheel 2 is positioned between the rear vertical plate of the front annular part and the front vertical plate of the rear annular part of one or more adjacent annular parts, two terminals of the worm wheel shaft 4 are respectively fixed on the two semi-annular sheets 1 on the outermost side to axially connect the semi-annular sheets 1, the worm wheel shaft 4 penetrates through the worm wheel 2 between the semi-annular sheets 1, and the worm wheel shaft 4 is matched with the axial hole of the worm wheel 2 to form fixed connection; the worm 3 is vertically arranged, spiral teeth at the vertical bottom end of the worm 3 are meshed with the worm wheel 2 to form a staggered shaft gear pair, a first transverse gear 7 is mounted at the vertical top end of the worm 3, the transverse gear is meshed with a transverse tooth surface of a vertical output shaft of a first motor 16, and the first motor 16 is fixed on a top plate; the axial hole of the vertical bevel gear 10 is matched with the wheel shaft 44, the wheel shaft 44 is matched with the axial hole of the driving wheel 12, the transverse bevel gear 9 is meshed with the vertical bevel gear 10, the axial hole of the transverse bevel gear 9 is matched with the connecting shaft 11, the transverse bevel gear 9 is positioned at the bottom end of the connecting shaft 11, the top end of the connecting shaft 11 is provided with the second transverse gear 8, the second transverse gear 8 is meshed with the transverse tooth surface of the vertical output shaft of the second motor 17, and the second motor 17 is fixed on the top plate; the rear vertical plate of the front annular part and the front vertical plate of the rear annular part of one group of two adjacent annular parts are directly or indirectly fixed with a top plate, the top plate is provided with at least three motors, two first motors 16 and one second motor 17, and the second motor 17 is positioned between the first motors 16 on the left side and the right side.

In one embodiment, there is provided a pipeline leakage detection water tray, as shown in fig. 6, installed below a pipeline, and including a water tray 22, a wireless communication module 23 (preferably NRF24l01 chip, which can be used by the wireless communication module described in other parts of the present invention) and sensors 24, where the water tray 22 is partitioned by partitions to form a plurality of small-area water tray lattices (preferably square or circular areas), each lattice is installed with one wireless communication module 23, each wireless communication module 23 is connected with one controller (such as a single chip microcomputer, etc.), each controller is connected with one sensor 24 installed in the water tray lattice, each controller has its own number, which corresponds to the water tray lattices one-to-one, each water tray lattice has a position information, the leakage signal of the water tray detected by the sensor 24 in a certain water tray lattice is transmitted to the corresponding controller, the controller sends out a liquid leakage signal and a serial number signal thereof, and outputs the liquid leakage signal and the serial number signal to the wireless communication module 23, and the wireless communication module 23 outputs the liquid leakage signal and the serial number signal to an upper computer. The sensor may be a raindrop sensor, which is suitable for liquid monitoring, in particular for water leakage monitoring. Or other sensors capable of collecting information about the monitored fluid.

Through above-mentioned hardware structure, realized weeping information acquisition and information transmission, and this information is by the structure of product, can obtain the positional information of weeping to, can gather and transmit weeping positional information by this product. The positioning of the liquid leakage position is realized through the water tray dot matrix, and the position information can be sent out, so that field personnel can obtain the liquid leakage position, and the liquid leakage can be found and positioned as soon as possible and repaired as soon as possible.

The upper computer stores the number signal and the position information of the corresponding water tray dot matrix, receives the liquid leakage signal and the number signal, inquires the position information corresponding to the number signal, and outputs the liquid leakage position information. Of course, the leakage position information preferably includes the serial number of the water tray lattice and/or other information capable of reflecting the leakage position, such as specific leakage position coordinates. Through this scheme, can track the pipeline position of weeping.

Certainly, as a preferred scheme, because there is a spatial distance, when a leakage occurring in an upper pipeline falls, a deviation occurs, however, the deviation position is not large, at this time, a pipeline patrol robot or a pipeline patrol system that can surmount obstacles can be started, which is located above the pipeline leakage detection water tray 22, so that the pipeline patrol robot patrols to the vicinity of the pipeline position corresponding to the leakage water tray dot matrix, photographs nearby pipelines, and transmits the position information of the photographed and photographed positions, thereby enabling an engineer to further determine the pipeline position where the leakage actually occurs as soon as possible.

It can be seen that the pipeline leakage detection water tray 22 and the pipeline patrolling robot or the pipeline patrolling system which can surmount obstacles form a pipeline patrolling leakage detection and positioning system based on the water tray dot matrix positioning, and the leakage positioning accuracy of the single pipeline leakage detection water tray 22 can be improved.

In one embodiment, a pipeline cruising system is provided, as shown in fig. 7-10, which comprises a pipeline cruising trolley, wherein a magnetic strip 25 of the advancing track of the pipeline is laid on the pipeline, a turning arm 29 is arranged at the bend of the pipeline, the driving motor of the pipeline cruising trolley is a motor 48, a magnetic motor 41 arranged on the body of the cruising trolley can be adsorbed with the magnetic strip 25, preferably, the magnetic motor penetrates through the body, part of the shell is fixed on the body, a magnetic adsorbing part extends downwards from the through hole and is close to the magnetic strip, more preferably, the magnetic motor 41 is arranged at the central position of the body, the motor 48 drives a driving wheel 27 of the pipeline cruising trolley to advance along the magnetic strip 25, preferably, the gear of the output shaft of the motor is meshed with the gear of the axle of the driving wheel so as to drive the driving wheel, and the pipeline cruising trolley comprises a body 26, Motor 48, magneto 41, drive wheel 27, leading wheel 28 and turn round wheel 43, motor 48 connect and drive wheel 27 and rotate, drive wheel 27 is two coaxial rear wheels of automobile body 26, and leading wheel 28 is two coaxial front wheels of automobile body 26, turn round wheel 43 is the horizontal wheel that is located the automobile body 26 front portion, and spends outside the automobile body, respectively has one in the both sides of automobile body 26 front portion, automobile body 26 drive arrive turn arm 29, one side turn round wheel 43 and turn arm 29 conflict for leading wheel 28 orbit is to turning side offset, makes automobile body 26 turn. Preferably, the turning arm 29 is a concave arm having a straight arm at the side position, and the turning wheel 28 is provided with a convex wheel surface for engaging with the concave surface toward the turning arm 29 side. Therefore, the trolley can be attached and contacted more, the turning is smoother, the linear arm ensures that the travelling speed and the travelling direction of the trolley are adjusted through a straight surface after the trolley turns, and the straight travelling after the trolley turns is kept.

Of course, the wheels of the trolley can be Mecanum wheels, and can have a rotation angle of 360 degrees.

The width of the trolley body 26 is 1/3-1/2 of the pipe diameter. According to the scheme, the trolley can be smaller in size, compared with a pipeline patrol robot, the trolley can be smaller in size and can more flexibly cruise on the pipeline, and the obstacle crossing capability of the trolley is weaker than that of the pipeline patrol robot.

The pipeline cruising trolley is provided with the sensor, the positioning module and the wireless communication module, during cruising, a liquid leakage signal of a certain pipeline position and position information sent by the positioning module are transmitted to the controller, the controller sends the liquid leakage signal and the position information and outputs the liquid leakage signal and the position information to the wireless communication module, and the wireless communication module outputs the liquid leakage signal and the position information to the upper computer. The sensor may be a raindrop sensor, which is suitable for liquid monitoring, in particular for water leakage monitoring. Or other sensors capable of collecting information about the monitored fluid.

In a preferred scheme, a camera can be further installed on the vehicle body 26 to photograph the liquid leakage position. The content is the same as the technologies of a camera, a positioning module, a wireless communication module and the like of the pipeline patrol robot.

Therefore, for smooth pipelines, when the pipeline does not have the obstacle influencing the cruise of the cruise trolley, the pipeline cruise system can be used to replace the pipeline cruise robot, the pipeline cruise robot can be started to cruise to the position near the pipeline position corresponding to the liquid leakage water disc dot matrix, nearby pipelines are photographed, and the position information of the photographed position and the photographed position is transmitted, so that engineering personnel can further determine the actual position of the pipeline where liquid leakage occurs as soon as possible.

The mark is sought through the magnetic stripe to this embodiment, can make the dolly cross the bend and have probably, and uses the turning arm cooperation dolly of installing in pipeline bend department to turn, can make the back vehicle speed of turning can be towards the magnetic stripe direction, and it is accurate to turn, can not lead to direction and magnetic stripe to deviate too greatly.

Certainly, as preferred scheme, because there is the space distance, the weeping that takes place by upper pipeline can take place the skew when falling, however, the skew position can not be great, when detecting the weeping, at this moment, can start to be located the pipeline weeping and detect the water tray top, pipeline at the weeping pipeline cruises the dolly, make pipeline cruises the dolly and cruises to near the pipeline position that this weeping water tray dot matrix corresponds, shoot near pipeline, and transmit and shoot and be located position information, thereby, can make engineering personnel further confirm the pipeline position that actually takes place the weeping as early as possible. Therefore, the pipeline leakage detection water tray and the pipeline cruise trolley form a pipeline turning cruise leakage detection and positioning system based on water tray dot matrix positioning, and the leakage positioning accuracy of a single pipeline leakage detection water tray can be improved.

As an alternative to detecting a water tray for leaking liquid from a pipeline, a patrol system for leaking water from a ground is provided, which includes a patrol car for tracing the ground, a black channel (such as black adhesive tape, black strip, etc.) laid on the ground, a photoelectric sensor (photoelectric pair tube) mounted on the patrol car, a photoelectric pair tube, and a plurality of sensors capable of collecting track data, such as an infrared sensor, a black-and-white line detection sensor, a photoelectric sensor, a camera, etc., which are arranged on the patrol car for tracing the ground. The wheels of the ground tracking patrol trolley are Mecanum wheels, the ground tracking patrol trolley can move 360 degrees while the orientation of the ground tracking patrol trolley is not changed, and ground tracking is conveniently carried out by matching with a photoelectric tube. A controller (singlechip) of the ground trace-finding patrol trolley is a main control module, receives and judges signals and controls the motor to drive. When the L293 chip is used for driving the motor to generate a signal to drive the trolley to move forwards, a level signal generated by whether a black channel is detected or not through the photoelectric geminate transistor returns to the singlechip through the LM339 chip, the singlechip judges that the track is searched to move forwards according to the detection signal and sends out a driving signal, and the motor drives and enables wheels to rotate to realize the automatic tracking function of the trolley. The sensor mounted on the trolley can be a raindrop sensor, and the condition is suitable for liquid monitoring, particularly water leakage monitoring. Or other sensors capable of collecting information about the monitored fluid. In a preferred scheme, a camera is installed on the ground tracing patrol trolley, the leaking position is photographed, and the content of the leaking position is the same as the technologies of the camera, the positioning module, the wireless communication module and the like of the pipeline patrol robot. The sensor may be a raindrop sensor, which is suitable for liquid monitoring, in particular for water leakage monitoring. Or other sensors capable of collecting information about the monitored fluid. The ground tracing patrol trolley can navigate according to the black channel tracing, cruise on a specified route, and cruise of pipeline leakage monitoring can be achieved.

Certainly, as an optimal scheme, due to the existence of a spatial distance, when a leakage occurs in an upper pipeline and falls, the leakage may deviate, however, the deviation position may not be large, when the leakage is detected, at this time, a pipeline inspection robot located above a pipeline leakage detection water tray, or a pipeline inspection system or a pipeline cruising trolley which is located above the pipeline leakage detection water tray and can traverse obstacles can be started, so that the pipeline inspection robot patrols or the pipeline cruising trolley cruises to the position near the pipeline position corresponding to the ground trolley (namely, near the pipeline leakage position), photographs nearby pipelines, and transmits the position information where the photographs are taken and shot, thereby enabling an engineer to further determine the position of the pipeline where the leakage actually occurs as soon as possible.

Therefore, the ground water leakage patrol system and the pipeline patrol robot or the pipeline patrol system capable of crossing obstacles during patrol form a pipeline leakage monitoring system capable of crossing obstacles based on photoelectric tracing. The ground water leakage patrol system and the pipeline patrol robot form a cruise system with synchronous liquid leakage between the ground and the pipeline. The positioning accuracy of single pipeline leakage detection can be improved.

For pipeline leakage, such as liquid leakage and gas leakage, except for a pipeline, a flange is also a common leakage position, and in order to more accurately monitor the flange leakage, a flange water leakage detection node is provided, as shown in fig. 11, and is fixed on a flange with high possibility of liquid leakage. The flange water leakage detection node comprises a motor 30, a gear 31, a camera 32, a fixed column (preferably a copper column 33), a track 34 and a variable pipe diameter outer contour 35, wherein the variable pipe diameter outer contour 35 comprises two annular contours, as shown in fig. 12, each annular contour comprises a plurality of groups of deformation plates. The set of deformable plates comprises a first plate 36 and a second plate 37, the two ends of the first plate 36 being a first plate part 38 and a second plate part 39, the two ends of the second plate 37 being a second plate part 40 and a second plate part 41, the two plates being hinged by a central position and being cross-plied in an X-shape, the first plate part 38 and the second plate part 40 being two front diverging ends, the second plate part 39 and the second plate part 41 being two rear diverging ends.

Two adjacent deformation plates of a plurality of groups of deformation plates, wherein one plate part 38 of the later group of deformation plates is hinged with two plate parts 41 of the former group of deformation plates, one plate part 39 of the later group of deformation plates is hinged with one plate part 40 of the former group of deformation plates, and all groups of deformation plates are encircled to form a circular variable pipe diameter outer contour 35.

Two annular profiles are arranged along the pipeline axial direction in parallel, and, in two annular profiles, each group of deformation board is relative, and a plurality of relative deformation boards are connected two annular profiles through the hinge hole of fixed column connection central point position, and each fixed column is arranged into ring shape and is supported, as preferred scheme, can set up a fixed column by 3 ~ 6 annular boards at interval.

Outside two annular profiles, on at least one side, the support section of fixed column stretches out the hinge hole, and each support section is arranged into the ring shape along with the fixed column.

The motor 30 is supported by a support mechanism such as a rack or a pipeline, an output shaft of the motor 30 is connected with a gear 31, the gear 31 is meshed with the inner periphery of a crawler 34, the inner periphery of the crawler 34 surrounds the outer periphery of a support section of a fixed column, the crawler 34 is supported by the support sections which are arranged into a circular ring shape, a camera 32, preferably an infrared detection thermal imaging camera 32, is installed at a certain position on the outer periphery of the crawler 34, the camera 32 faces the inner parts of two annular outlines, and the purpose is to enable a shooting area of the camera 32 to cover the pipeline and a flange part which are sleeved by an outer outline 35 with a variable pipe diameter.

The rotation of motor 30, by gear 31 follow-up rotation, gear 31 drives track 34 and rotates around arranging into the annular support section of circle, infrared detection thermal imaging camera 32 also rotates thereupon when track 34 rotates, when adapting to different pipe diameters, change its diameter through variable pipe diameter outline 35, through the parallelogram to adjacent two sets of deformation board alternately formation promptly, can change the distance of pin joint in the middle of these two sets of deformation boards, stretch or shrink each adjacent two sets of deformation boards, make the distance of pin joint elongate or shorten, thereby can adjust the diameter of variable pipe diameter outline 35, therefore this structure has the advantage scalable, the flexibility is strong, convenience of equipment is according to pipeline profile adjustment diameter, all-round real-time supervision pipeline situation.

Any one of the flange water leakage detection nodes, the pipeline patrol robot, the pipeline patrol system, the pipeline cruise system, the pipeline leakage detection water tray and the ground water leakage patrol system which are positioned at the corresponding positions of the pipeline and can cross obstacles in patrol is combined into a leakage monitoring system, so that the leakage monitoring and cruise combination is formed while the respective leakage monitoring functions are realized, a sensor or a camera can be more conveniently used for monitoring the pipelines under different conditions, particularly, each system is combined with the flange water leakage detection node, and the leakage monitoring of the flange at a specific position can be enhanced.

According to the above-mentioned schemes, different leakage detection modes can be matched with each other, monitoring can be performed on most types of pipelines, the three modes can be used for detecting three different pipeline conditions, and the leakage detection feasibility is high. As shown in fig. 13 and 14, the first type is a pipeline patrol robot, which detects the leakage on the surface of a pipeline through a module, and this way can change its shape according to different sizes of pipelines, so as to adapt to more pipeline types and be expanded to a pipeline patrol robot with obstacle crossing function; the second is fixed-point detection, flange leakage detection node, 360 degree surrounding infrared detection is carried out on the node (such as a pipeline corner) which is easy to leak liquid, 100% coverage rate is provided for the flange plate, damage conditions such as pipeline deformation, bending, holes, cracks and pipeline corrosion can be detected, and the leakage detection rate is further improved; the third is a ground tracing patrol trolley, a tracing route is designed below a pipeline, and in one scheme, the leakage condition is detected by detecting the temperature and the humidity of the ground. The ground trace-finding patrol trolley can send data to the pipeline patrol robot once detecting that the temperature and humidity below the pipeline are abnormal, the pipeline patrol robot patrols to a specified position, the position is monitored, and an alarm can be given out when the abnormity is found. For certain flanges with special structures, the pipeline inspection robot is difficult to realize the obstacle crossing function, and the flanges are liquid leakage multiple points, so that the fixed-point detection is arranged at the positions. The three modes complement each other, and are three-in-one, form an accurate, reliable system, and whole system has automatic start-up detection, the energy-conserving function of automatic shutdown in addition, possesses GPS locate mode, can be with during information automatic upload reaches APP, can solve the pipeline weeping monitoring difficult problem, above-mentioned scheme is special for compound energy pipeline weeping detection design. Because of lower cost and higher monitoring efficiency, the system is required by the current leakage monitoring service market and consists of a pipeline patrol robot, a flange water leakage detection node, a ground water leakage patrol trolley and other detection modes which meet the conditions. Data are collected in multiple modes, leakage monitoring information is uploaded to the APP through the 4G wireless transmission module (or other wireless communication modules), more visual data are given to people, the background conducts big data deep learning and processing on the collected information, and a targeted processing scheme is obtained through analysis. The composite energy heat supply pipeline leakage detection system has the important economic significance of high research and development reliability, good universality and low cost.

The pipeline inspection robot is located at a pipeline, and under the control of the steering engine 21, the arch bridge type vehicle body and the mechanical arm can realize obstacle crossing of flange plate structures on pipelines with different diameters. The problem that the pipeline robot cannot cross the flange plate obstacle is solved by the structure of the pipeline robot. Install infrared camera, but the current situation of infrared ray real-time detection outer anticorrosive coating, for example anticorrosive coating ageing condition, damaged position and damaged big or small situation, the corrosion current flow direction of damaged department body etc to with data transmission to APP in, APP will be distinguished and confirm the position (like image contrast or manual judgement etc.) that has formed and will form outer corrosion defect, and can draw the three-dimensional imaging picture of pipeline, explain the achievement picture, so that the corruption, the damage of understanding pipeline more directly perceivedly, the deformation condition. Meanwhile, for detecting different substances in the pipeline, a sound and gas sensor module for the characteristics of the substances is placed on the pipeline patrol robot, such as: in the pipeline of transportation liquid ammonia, pipeline internal gas pressure is higher for pipeline external gas pressure, can gasify for the gaseous state when liquid ammonia is revealed, filters external interference sound's supplementary under FFT filtering, through the monitoring of liquid ammonia sensor module and sound sensor module, the emergence that the user can detect the weeping in many ways, and in case the pipeline produces the weeping, the sensor takes place the police dispatch newspaper, is convenient for in time repair to improve the detection rate.

Liquid dot matrix detection device is, and liquid dot matrix detection device is placed under the pipeline to the reserve embodiment of pipeline inspection robot, and in a scheme, the NaCl solution that is equipped with certain solubility in the device, if the pipeline takes place to reveal the condition, during the weeping drips into liquid dot matrix detection device along the pipe wall, through the electric conductivity and the dot matrix sensor detection device of NaCl solution to learn concrete weeping condition and position and transmit for the customer end. Of course, for water leakage, detection may be made using a raindrop sensor. The device greatly reduces the cost, is easy to install and is suitable for various conditions.

The flange plate is the pipeline junction, belongs to the high district that sends out that leaks, so flange detection node that leaks special monitoring flange dish department condition of leaking, and flange detection node that leaks's steering wheel 21 can come different angles of rotation according to the length of PWM ripples, and the gear rack meshing drives the reciprocal rotation of camera.

The ground patrol robot can automatically detect the ground leakage situation according to characteristics such as temperature and humidity, ground light and shade, ground color change and the like, and transmits signals back to the APP for leakage analysis.

When the pipeline patrol robot patrols in a specified area, the distance between the pipeline patrol robot and a front obstacle is detected by using an ultrasonic technology, when the distance between the point a of the pipeline patrol robot and the point b of the obstacle is less than or equal to five centimeters, a first instruction for stopping the forward patrol is generated, the robot immediately patrols in the reverse direction, when the distance between the point a of the pipeline patrol robot and the point b of the obstacle is less than five centimeters, a second instruction for stopping the forward patrol is generated, and the first instruction is generated until the second instruction is generated, so that a detection period is formed. At certain flange plates with larger diameters, the pipeline inspection robot cannot cross obstacles, and flange water leakage detection nodes are arranged to monitor the water leakage condition of the flange plates, so that the detection leak of the pipeline inspection robot is compensated.

A tracing black line for the ground water leakage patrol trolley is arranged right below the pipeline, so that the ground water leakage patrol trolley can detect the water dripping condition of the pipeline and respectively transmit data to a flange water leakage detection node and a pipeline patrol robot, and if a water leakage point is detected to be just positioned at a flange plate, the flange water leakage detection node receives an instruction to start detecting the liquid leakage condition; if the water leakage point is detected to be positioned below the pipeline, the ground water leakage patrol robot sends position and mileage information to the pipeline patrol robot, and the pipeline patrol robot patrols to the water leakage position and detects specific conditions.

The APP can identify and determine the positions of the formed and about to form external corrosion defects according to the pipe conditions detected by the three robots, measure and evaluate the operation condition and the protection level of the cathodic protection system, such as whether the pipe is comprehensively and properly cathodically protected, whether under-protection or over-protection conditions exist. Therefore, comprehensive, reasonable and scientific maintenance, maintenance management schemes and corrosion control measure suggestions are provided for the owners according to big data analysis, and the complete and effective corrosion prevention is ensured.

The prior art only detects fixed pipeline positions and can only alarm through a simple alarm, and the mode is single and the precision is low. And this patent scheme has multiple detection mode, detects the precision height, and easy operation is easy to go to one's hands, and control is convenient, and has supporting early warning APP, has ageing and accurate nature more to the improvement of pipeline weeping.

When the pipeline patrols the robot and realizes patrolling of vertical pipeline, the robot will rotate through drive structure and become the swing of worm-gear shaft 4 to adapt to the pipeline of different diameters, reduce the angle again and hold tightly the pipeline, patrol, and the transmission shaft finishes in case the adjustment can realize the auto-lock, thereby has guaranteed that semi-annular piece 1 expands the stability that the angle was maintained outward, has guaranteed to patrol smooth and easy and stable.

When the pipeline is over-barrier, the rear end of the robot clamps the pipeline, the front end is lifted, the front end clamps the pipeline after crossing the obstacle, and the rear end is lifted subsequently. When the automobile body makes a round trip to walk on the pipeline, can collect all kinds of data and look over the real-time pipeline condition for the user, simultaneously, also can remove at suspicious position and shoot, carry out the record.

The flange detection node that leaks is fixed in the high department that sends out of weeping, and the rotation through the motor drives the track, and the rethread track drives variable pipe diameter outline, and infrared detection thermal imaging camera also rotates thereupon when the track rotates, and variable pipe diameter outline has scalable, advantage that the flexibility is strong, and convenient device is according to pipeline profile adjustment diameter, all-round real-time supervision pipeline situation.

The patrol trolley of the ground water leakage patrol system is controlled by a motor, and the patrol trolley runs according to a customized route through a sensor and can also carry out tracking survey according to artificially set cycle time. When water drops pass through the detection blind areas of the pipeline inspection robot and the flange water leakage monitoring node, the water drops can be dripped onto the raindrop sensor or the temperature and humidity sensor without fail, the sensor sends signals to the single chip microcomputer system, and the system processes information and then transmits the position of the leakage point and temperature and humidity data to the APP.

The above description is only for the purpose of creating a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims

1. The flange water leakage detection node is characterized by comprising a motor (30), a gear (31), a camera (32), a fixing column (33), a track (34) and a variable pipe diameter outer contour (35), wherein the variable pipe diameter outer contour (35) comprises two annular contours, each annular contour comprises a plurality of groups of deformation plates, one group of deformation plates comprises a first plate (36) and a second plate (37), two ends of the first plate (36) are a first plate part (38) and a second plate part (39), two ends of the second plate (37) are a first plate part (40) and a second plate part (41), the two plates are hinged and overlapped in an X shape through a central position in a crossed mode, the first plate part (38) and the first plate part (40) are two front end parts in a forked mode, and the second plate part (39) and the second plate part (41) are two rear end parts in a forked mode; two adjacent deformation plates of the plurality of groups of deformation plates, wherein one plate part (38) of the back group of deformation plates is hinged with two plate parts (41) of the front group of deformation plates, one plate part (39) of the back group of deformation plates is hinged with one plate part (40) of the front group of deformation plates, and all the groups of deformation plates are encircled to form a circular variable pipe diameter outer contour (35);

the two annular outlines are arranged in parallel along the axial direction of the pipeline, in addition, each group of deformation plates in the two annular outlines are opposite, a plurality of opposite deformation plates are connected with a hinge hole at the central position through a fixing column (33), the two annular outlines are connected, and each fixing column (33) is arranged into an annular support; at least one side of the outer sides of the two annular profiles is provided with a support section of the fixed column (33) extending out of the hinge hole, and the support sections are arranged into a ring shape along with the fixed column;

the motor (30) is supported by a support mechanism such as a rack or a pipeline, an output shaft of the motor (30) is connected with a gear (31), the gear (31) is meshed with the inner periphery of the crawler belt (34), the inner periphery of the crawler belt (34) surrounds the outer periphery of a support section of the fixed column, the crawler belt (34) is supported by the support sections which are arranged into a circular ring shape, a camera (32) is installed at a certain position of the outer periphery of the crawler belt (34), and the camera (32) faces towards the inner parts of the two circular profiles.

2. A leakage monitoring system comprising one or more of the flange leakage detection node or the pipeline patrol robot or the pipeline patrol system which can negotiate obstacles, or the pipeline cruise system or the pipeline leakage detection water tray or the ground leakage patrol system according to claim 1 at the corresponding position of the pipeline.