CN112066156A - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
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- CN112066156A CN112066156A CN202010955438.0A CN202010955438A CN112066156A CN 112066156 A CN112066156 A CN 112066156A CN 202010955438 A CN202010955438 A CN 202010955438A CN 112066156 A CN112066156 A CN 112066156A
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- pipeline
- pipeline robot
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention provides a pipeline robot, which mainly presses the top wall and the bottom wall of a pipeline (such as a pipeline, a mine and the like) through two points, so that the pipeline robot can form stability in the pipeline, and therefore, the pipeline robot can be suitable for pipelines in various conditions to solve the problem of the defects of the existing pipeline robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pipeline robot.
Background
At present, most of pipeline robots adopt a wheel type to move in a pipeline so as to detect and maintain the inner wall of the pipeline, or detect the conditions in the pipeline, or clear up the siltation in the pipeline. In order to make the pipeline robot stably move in the pipeline, people design a mode design which presents each wheel with an included angle of 120 degrees, and the wheels are pressed on the inner wall of the pipeline in a mode of 120 degrees included angles at intervals, so that the pipeline robot can form a stable state in the pipeline.
However, such a pipe robot has disadvantages in that: the pipeline robot is limited by a wheel arrangement mode, so that the pipeline robot is only used for the inner wall of a cylindrical pipeline, and when the pipeline is in a corner column shape, or when the space such as a mine and the like needs to be subjected to work such as dredging, detection and the like, the pipeline robot is useless.
Disclosure of Invention
The problem to be solved by the present invention is that the stable movement of the pipeline robot cannot be applied to various spaces.
In order to solve the above problems, the present invention provides a pipeline robot, which has the following technical scheme:
the pipeline robot comprises a pipeline robot body, wherein a power wheel set is arranged at the bottom of the pipeline robot body to drive the pipeline robot body to move, and the front side of the pipeline robot body is gradually reduced from the left half part and the right half part towards the center to form a tip part; the top of the pipeline robot body is provided with a plurality of springs, the top ends of the springs are respectively provided with a universal wheel, each universal wheel is respectively provided with a brake unit, a processor is arranged in the pipeline robot body, the processor is in information connection with the brake units, and the processor can be used for controlling the brake units to be opened and closed; when the pipeline robot is arranged in the pipeline, the universal wheels respectively prop against the inner side of the top wall of the pipeline.
In view of the problems of the prior art, the robot is supported against the interior of the pipeline at 3 points by the wheels, and the wheels are spaced 120 degrees apart to form a stable state in the pipeline. The creation changes into a 2-point mode, and utilizes the universal wheels and the power wheel set to respectively press the top wall and the bottom wall of the pipeline from top to bottom so as to enable the pipeline robot to be stabilized in the pipeline, and therefore, no matter whether the pipeline is a cylindrical inner space or an inner space with inconsistent inner diameters such as a mine or an angular columnar inner space, the creation can form stability in the interior through the 2-point mode. In addition, the elastic restoring force and the compressible characteristic of the spring are also utilized, so that the pipeline robot can move in pipelines with different inner diameters and can adapt to various surface conditions in the pipelines.
Drawings
FIG. 1 is a diagram of an embodiment of the present authoring system FIG. 1;
FIG. 2 is a diagram of an embodiment of the present authoring system FIG. 2;
FIG. 3 is a diagram of an embodiment of the present authoring system FIG. 3;
FIG. 4 is a schematic diagram of links between components of the authoring tool.
FIG. 5 is a schematic diagram of the tip of the present creation
FIG. 6 is a schematic view of an embodiment of the lifting unit
FIG. 7 is a schematic view of another embodiment of the lifting unit of the present invention
Description of reference numerals:
a-a pipeline; 1-a pipeline robot body; 11-tip; 2-a power wheel set; 21-wheel body; 3-a spring; 4-a universal wheel; 5A-a brake unit; 5B-a processor; 5C-water level detecting unit; 5D-a lifting unit; 5E-an image capturing unit; 5F-a positioning unit; 5G-maintenance unit; 5H-gas detection unit; 5I-a flow rate detection unit; a 5J-wall thickness detection unit; 51-a motor; 52-a lifting rod; 53-connecting the stage body; 531-pivoting part; 54-a servomotor; 55-a rod body; 56-jacking a table body; 57-a sensor; 58-a table body; 59-a guide bar; 6-a console; 61-alarm.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Example 1:
referring to fig. 1 to 4, the present invention relates to a pipeline robot, including:
the pipeline robot comprises a pipeline robot body 1, wherein a power wheel set 2 is arranged at the bottom of the pipeline robot body 1 to drive the pipeline robot body 1 to move, the front side of the pipeline robot body 1 is gradually reduced from the left half part and the right half part towards the center to form a tip part 11, and therefore when the water level in a pipeline A is high, the resistance brought by fluid can be reduced; the pipeline robot comprises a pipeline robot body 1, a plurality of springs 3, a brake unit 5A, a processor 5B, a plurality of brake units 5A and a plurality of control units 5B, wherein the plurality of springs 3 are arranged at the top of the pipeline robot body 1, a universal wheel 4 is arranged at the top end of each spring 3, each universal wheel 4 and each power wheel group 2 are respectively provided with one brake unit 5A, the processor 5B is arranged in the pipeline robot body 1 and is in information connection with the brake units 5A, and the processor 5B can control the brake units 5A to be opened and closed; when the pipeline robot is arranged in the pipeline A, the universal wheels 4 respectively prop against the inner side of the top wall of the pipeline A, and the processor 5B is matched to control each braking unit 5A, so that the universal wheels 4 and the power wheel set 2 can be more stably pressed against the inner side of the top wall of the pipeline A to increase the static friction force between the universal wheels and the power wheel set, and the pipeline robot can be stably positioned in the pipeline A.
The advantages of this creation are as follows:
1. can be adapted to pipes A of various pipe diameters:
because the power wheel set 2 and the universal wheels 4 are propped against the top wall and the bottom wall of the pipeline A together up and down, when the pipe diameter of the pipeline A changes in the advancing process, for example, when the pipeline enters a pipeline with a smaller inner diameter from a pipeline with a larger inner diameter or enters a pipeline with a larger inner diameter from a pipeline with a smaller inner diameter, the elastic compression amount or the elastic recovery amount of each spring 3 can be adapted to the change of the pipe diameter, so that the advancing process is more stable.
2. Can adapt to various changes in the pipe:
since the pipe A is often protruded due to the adhesion of foreign matters, the present invention can overcome various surface protrusions by the elastic compression amount or elastic recovery amount of each spring 3. Specifically, when a part of the universal wheel 4 passes over a protrusion in the moving process, the corresponding spring 3 contracts along with the protrusion, so that the horizontal height of the universal wheel 4 is changed to pass over the protrusion, and therefore, the phenomenon of strangeness is not easy to occur in the moving process.
3. And (3) stabilizing the overall position:
the present creation mainly utilizes the two-point mode, and the universal wheels 4 and the power wheel set 2 will be affected by the spring 3 to abut against the top wall and the bottom wall of the pipeline a from top to bottom, so that the static friction force between each other can be greatly increased, and the pipeline robot can be stabilized in the pipeline a. In addition, the brake unit 5A is further used to respectively clamp and brake each universal wheel 4 and the power wheel set 2, so that the static friction force can be greatly increased, and the pipeline robot can form a more stable state.
4. Reducing the fluid resistance:
through the tip part 11, when the pipeline robot moves in the fluid, the resistance brought by the fluid can be greatly reduced, so that the pipeline robot moves more smoothly in the pipeline A.
Example 2:
a state in which the level of stagnant water is high may occur in the pipeline robot, and such a state may increase the resistance of the power wheel set 2 to choke the operation. To solve such a problem, the present creation can be further implemented as follows: a water level detecting unit 5C is further provided, wherein the water level detecting unit 5C is used for detecting the height of the water level of the silt in the pipeline a to obtain a water level height detecting result; power wheelset 2 with be equipped with a lift unit 5D between the pipeline robot body 1, lift unit 5D information connection treater 5B, treater 5B can supply according to the high detection result control of water level lift unit 5D actuates, in order to adjust power wheelset 2 with interval between the pipeline robot body 1.
For example, when it is detected that the level of the stagnant water reaches the height of the pipe robot body 1, under the control of the processor 5B, the lifting unit 5D can lift the height of the pipe robot body 1 so as to generate a certain distance between the power wheel set 2 and the pipe robot body 1, the width of the distance is determined according to the height of the stagnant water level, thereby reducing the resistance of the stagnant water to the apparatus during the advance of the apparatus, so that the apparatus can smoothly move in the pipe a.
Example 3:
because the track has high land fertility of grabbing, advantage such as ground environment adaptability height, this embodiment more utilizes this kind of advantage to make this creation further can implement as: the power wheel set 2 includes a plurality of wheel bodies 21 arranged in parallel, and a crawler is sleeved on the outer side of each wheel body 21 for driving the crawler to rotate when each wheel body 21 rotates.
Therefore, the pipeline robot can move in the pipeline A easily almost regardless of the condition in the pipeline A in the advancing process, and meanwhile, the characteristic of high ground gripping force of the crawler belt is also utilized, so that the pipeline robot is beneficial to supporting the top wall and the bottom wall of the pipeline A to generate a better stable effect.
Example 4:
in order to make the worker know the condition in the pipeline a clearly, the creation can be further implemented as follows: the top of the pipeline robot body 1 is provided with an image shooting unit 5E, the image shooting unit 5E is in information connection with the processor 5B, and the image shooting unit 5E can be used for shooting the condition in the pipeline A to obtain an image shooting result; the processor 5B is remotely connected to a console 6, and the processor 5B is configured to send the image capturing result to the console 6.
In this way, the operator can know the condition inside the pipeline a through the image capturing result, so that the present creation can have a prospecting function, and the operator can also control the pipeline robot through the console 6, for example, the operator can control the traveling direction of the power wheel set 2 or the direction of the image capturing unit 5E, so that the prospecting work of the pipeline a can be more accurate.
Example 5:
this creation further provides the function that the pipeline damage detected, and its embodiment is: pipeline robot body 1 is equipped with a positioning unit 5F, just positioning unit 5F information connection treater 5B, treater 5B earlier with image shooting result converts grey scale image data into, judges after the grey scale image data carries out BLOB analysis whether pipeline A produces the damage, works as when treater 5B judges the pipeline damage, then control cabinet 6 starts alarm 61 immediately and actuates, treater 5B will positioning unit 5F's location result conveying to control cabinet 6.
Thus, when the alarm 61 is turned off, the worker can know that the pipeline a is damaged and also know the damaged position, so that the worker can perform related processing such as repairing the damaged pipeline. Meanwhile, the damage status can be known through the image capturing unit 5E in combination with the contents described in embodiment 4.
Example 6:
with reference to example 5, the present invention further provides a function of repairing damaged pipes, and the implementation manner thereof is as follows: the pipeline robot body 1 is provided with a maintenance unit 5G, and the maintenance unit 5G is in information connection with the processor 5B; the console 6 is configured to send an operation signal to the processor 5B, so that the processor 5B controls the maintenance unit 5G to operate according to the operation signal. The maintenance unit 5G may be a welding gun or a robot arm, and all of the maintenance units 5G are the maintenance unit 5G referred to in this specification, which can provide a person who can repair the damaged pipe.
Therefore, in the embodiment 5, after the alarm 61 rings, the operator can know the damage condition of the pipeline a through the image capturing unit 5E, and can use the console 6 to operate the maintenance unit 5G for maintenance, so as to reduce various negative effects caused by the damage of the pipeline a.
Example 7:
besides the possible damage and other situations, the situations such as the overflow of harmful gas can also occur in the pipeline a, for this reason, this specification provides the function of checking the harmful gas again, and its implementation mode is: pipeline robot body 1 is equipped with a gas detection unit 5H, just gas detection unit 5H information connection treater 5B, gas detection unit 5H can supply to detect harmful gas in the pipeline A, when detecting out harmful gas in the pipeline A surpasss the default value, then control cabinet 6 starts alarm 61 immediately and actuates, treater 5B will positioning unit 5F's location result conveying to control cabinet 6.
Therefore, when the harmful gas is detected, the worker can immediately find the harmful gas, and can also know the position of the harmful gas, even the gas detection unit 5H can detect the type (such as methane) of the harmful gas, so that the worker can conveniently perform the subsequent corresponding processing flow.
Example 8:
in order to reduce the influence caused by the above-mentioned matters, the present specification further provides corresponding coping means, which is characterized in that: the pipeline robot body 1 is provided with a flow velocity detection unit 5I, the flow velocity detection unit 5I is in information connection with the processor 5B, and the flow velocity detection unit 5I can be used for detecting the flow velocity of the fluid in the pipeline A to obtain a flow velocity detection result; the processor 5B controls the lifting unit 5D and the brake unit 5A to move according to the flow velocity detection result.
Therefore, when it is detected that the flow rate of the stagnant water is too high, at this time, the processor 5B immediately controls the lifting unit 5D to lift the pipeline robot body 1 upward, and controls the brake unit 5A to clamp the power wheel set 2 and the universal wheel sets, so that the pressing force path to the top wall and the bottom wall of the pipeline a can be greatly improved, and the static friction force between the universal wheel sets 4 and the top wall of the pipeline a and between the power wheel set 2 and the bottom wall of the pipeline a is greatly improved, thereby resisting the impact caused by the stagnant water.
Example 9:
referring to fig. 5, the tip 11 of the present invention preferably forms a curved surface 12 from bottom to top, so that the resistance of the sludge water can be greatly reduced during the movement of the present invention in the sludge water, and the impact of the sludge water can be greatly reduced through the structure of the tip 11 when the sludge water is attacked by a large amount, thereby reducing the probability of damage.
Example 10:
first, please see fig. 6, wherein the lifting unit 5D includes a motor 51 and a lifting rod 52 connected to the motor 51, the free end of the lifting rod 52 is connected to the power wheel set 2, and a connecting platform 53 is disposed outside the motor 51 and connected to the bottom of the pipeline robot body 1 through the connecting platform 53.
In this way, when the lifting unit 5D is operated, the motor 51 can drive the lifting rod 52 to lift the pipeline robot body 1 upwards, which not only can be used to adjust the static friction between the road wheel 4 and the power wheel set 2 and the inner side wall of the pipeline a, but also can help the pipeline robot body 1 to avoid the turbulent water attack because the pipeline robot body 1 is lifted, thereby ensuring the safety of the pipeline robot. Furthermore, a pivot joint portion 531 is preferably disposed between the connecting platform 53 and the motor 51, and the free end of the lifting rod 52 can be pivoted with the power wheel set 2, so that the present invention can adjust the angles among the pipeline robot body 1, the lifting unit 5D, and the power wheel set 2 according to different requirements. The link form of the lifting unit 5D is not limited to the above, and the free end of the lifting rod 52 may be connected to the bottom of the pipe robot main body 1, and the connecting table 53 may be connected to the power wheel set 2.
Example 11:
referring to fig. 7, another embodiment of the lifting unit 5D is described, and it should be noted that, for the convenience of understanding the internal structure of the lifting unit 5D, fig. 7 shows the housing of the lifting unit 5D in an omitted manner, so that the internal structure of the lifting unit 5D is more clearly understood.
The lifting unit 5D includes a servo motor 54, an output end of the servo motor 54 is connected to a rod 55, a free end of the rod 55 is connected to a lifting stage 56, the lifting stage 56 can be connected to the bottom of the pipe robot body 1 or the power wheel set 2, two sensors 57 are disposed at intervals on one side of the rod 55, each sensor 57 is connected to the servo motor 54, and thus, the result sensed by each sensor 57 can control the actuation of the servo motor 54, and further the lifting amount of the lifting stage 56 can be precisely controlled.
Therefore, when the turbulent stagnant water strikes, the jacking platform body 56 can effectively enable the pipeline robot body 1 to avoid the invasion of the stagnant water, or can effectively increase the static friction force between the road wheel 4 and the power wheel set 2 and the inner side wall of the pipeline a, so that the pipeline robot can move in the pipeline a more stably.
In addition, a table 58 is disposed at a section of the rod 55, guide rods 59 are disposed at four corners of the table 58, and free ends of the guide rods 59 are connected to the lifting table 56, so that the rod 55 can be prevented from being tilted during use by being guided by the guide rods 59.
Example 12:
next, another function of the present authoring is described: detecting the thickness of the pipe wall. The implementation mode is as follows: the pipeline robot body 1 is further provided with a pipe wall thickness detecting unit 5J, and the pipe wall thickness detecting unit 5J can detect the pipe wall thickness of the pipeline a to obtain a pipe wall thickness detection value; the processor 5B is in communication with the wall thickness detecting unit 5J, and the processor 5B is configured to: c ═ D1－D2) Calculating the corrosion rate by/t, wherein C is the corrosion rate, D1Is the original thickness of the tube wall, D2The detected value of the pipe wall thickness is t, and the detection time interval is t; next, the processor 5B further sets (k × D) according to the formula Y2－D*) Calculating the residual service life of the pipe wall, wherein Y is the residual service life of the pipe wall, k is a correction factor, and D*Minimum wall thickness; and when D is2<D*If so, the processor 5B sends a message to the console 6 to allow the console 6 to control the operation of the alarm 61.
Therefore, in addition to detecting the wall thickness of the pipeline a for the relevant staff and maintainers to prepare the pipeline a for the possible state in advance, the present invention also provides the method of controlling the alarm 61 to operate when the detected value of the wall thickness is smaller than the minimum wall thickness, so as to notify the relevant staff and maintainers that a remedial measure should be taken urgently.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A pipeline robot, comprising:
the pipeline robot comprises a pipeline robot body, wherein a power wheel set is arranged at the bottom of the pipeline robot body to drive the pipeline robot body to move, and the front side of the pipeline robot body is gradually reduced from the left half part and the right half part towards the center to form a tip part; the pipeline robot comprises a pipeline robot body and a brake unit, wherein a plurality of springs are arranged at the top of the pipeline robot body, a universal wheel is arranged at the top end of each spring, a brake unit is arranged on each universal wheel and each dynamic wheel set, a processor is arranged in the pipeline robot body, the processor is in information connection with the brake unit, and the processor can be used for controlling the opening and closing of the brake unit; when the pipeline robot is arranged in the pipeline, the universal wheels respectively prop against the inner side of the top wall of the pipeline.
2. The pipeline robot of claim 1, further comprising a water level detecting unit in communication with the processor, wherein the water level detecting unit is configured to detect a water level in the pipeline to obtain a water level detection result; the power wheelset with be equipped with a lift unit between the pipeline robot body, just lift unit information connection the treater, the treater can supply according to the high detection result control of water level lift unit for adjust the power wheelset with interval between the pipeline robot body.
3. The pipeline robot of claim 2, wherein the power wheel set comprises a plurality of wheel bodies arranged in parallel, and a crawler is sleeved on the outer side of each wheel body for driving the crawler to rotate when the wheel bodies rotate.
4. The pipeline robot of claim 3, wherein an image capturing unit is disposed on the top of the pipeline robot body, and the image capturing unit is connected to the processor for capturing the conditions inside the pipeline to obtain an image capturing result; the processor is remotely connected with a console, and the processor can be used for sending the image shooting result to the console.
5. The pipeline robot of claim 4, wherein the pipeline robot body is provided with a positioning unit, the positioning unit is in information connection with the processor, the processor converts the image shooting result into gray-scale image data, judges whether the pipeline is damaged or not after performing BLOB analysis according to the gray-scale image data, and when the processor judges that the pipeline is damaged, the console immediately starts an alarm to actuate, and the processor transmits the positioning result of the positioning unit to the console.
6. The pipeline robot of claim 5, wherein the pipeline robot body is provided with a maintenance unit, and the maintenance unit is in information connection with the processor; the control console can be used for sending an operation signal to the processor so that the processor can control the maintenance unit to work according to the operation signal.
7. The pipeline robot as claimed in claim 6, wherein the pipeline robot body is provided with a gas detection unit, the gas detection unit is in information connection with the processor, the gas detection unit can detect harmful gas in the pipeline, when the harmful gas in the pipeline is detected to exceed a default value, the console immediately starts an alarm to be activated, and the processor transmits the positioning result of the positioning unit to the console.
8. The pipeline robot of claim 7, wherein the pipeline robot body is provided with a flow rate detection unit, the flow rate detection unit is in communication with the processor, and the flow rate detection unit is capable of detecting the flow rate of the fluid in the pipeline to obtain a flow rate detection result; the processor controls the lifting unit and the brake unit to move according to the flow speed detection result.
9. The pipeline robot of claim 8, wherein the pointed portion forms an arc surface from bottom to top.
10. The pipeline robot of claim 9, wherein the pipeline robot body further comprises a wall thickness detecting unit for detecting a wall thickness of the pipeline to obtain a wall thickness detection value; the processor is in communication with the wall thickness detection unit and is configured to: c ═ D1－D2) Calculating the corrosion rate by/t, wherein C is the corrosion rate, D1Is the original thickness of the tube wall, D2The detected value of the pipe wall thickness is t, and the detection time interval is t; then, the processor further generates a value according to the formula (k) D2－D*) Calculating the residual service life of the pipe wall, wherein Y is the residual service life of the pipe wall, k is a correction factor, and D*Minimum wall thickness; and when D is2<D*And if so, the processor sends a message to the console so as to control the action of the alarm by the console.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010955438.0A CN112066156A (en) | 2020-09-11 | 2020-09-11 | Pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010955438.0A CN112066156A (en) | 2020-09-11 | 2020-09-11 | Pipeline robot |
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| CN112066156A true CN112066156A (en) | 2020-12-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113404975A (en) * | 2021-06-17 | 2021-09-17 | 广东工业大学 | Detection equipment for internal state of water delivery pipeline |
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Application publication date: 20201211 |
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