CN112228696A - Air bag type pipeline robot - Google Patents
Air bag type pipeline robot Download PDFInfo
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- CN112228696A CN112228696A CN202011218368.7A CN202011218368A CN112228696A CN 112228696 A CN112228696 A CN 112228696A CN 202011218368 A CN202011218368 A CN 202011218368A CN 112228696 A CN112228696 A CN 112228696A
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- 238000012423 maintenance Methods 0.000 claims abstract description 15
- 230000007547 defect Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 39
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 230000006698 induction Effects 0.000 claims description 15
- 239000012530 fluid Substances 0.000 claims description 6
- 230000005415 magnetization Effects 0.000 claims description 6
- 230000007797 corrosion Effects 0.000 claims description 4
- 238000005260 corrosion Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000010802 sludge Substances 0.000 description 4
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- 230000006978 adaptation Effects 0.000 description 2
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- 230000000694 effects Effects 0.000 description 2
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000035558 fertility Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 230000000246 remedial effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
- 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
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The invention provides an air bag type 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 to ensure that the air bag type pipeline robot can form stability in the pipeline, so that the air bag type pipeline robot can be suitable for pipelines in various conditions to solve the problem of the defects of the existing pipeline robot. Meanwhile, when the pipeline is damaged, the magnetic field of the damaged part can generate a magnetic leakage phenomenon, so that the device can detect whether the pipeline is damaged or not by utilizing the characteristic, and can synchronously calculate the area of the damaged part by matching with a formula so as to be beneficial to relevant workers to carry out subsequent maintenance and other work.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an air bag type 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 problems, the invention provides an air bag type pipeline robot, which adopts 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 body of the pipeline machine is provided with an inflation unit, the top of the inflation unit is provided with an air bag, and the inlet end of the air bag is communicated with the inflation end of the inflation unit; the processor is arranged in the pipeline robot body, the processor is in information connection with the inflation unit, and the processor can be used for controlling the opening and closing of the inflation unit so that the inflation bag can be supported against the inner side of the top wall of the pipeline in an operational mode;
the pipeline robot body is provided with a magnetic unit and a magnetic field detection unit, wherein the magnetic unit can generate a magnetic field to enable the pipeline to produceGenerating a magnetization saturation state, wherein the magnetic field detection unit detects the saturation magnetic induction intensity of the pipeline in the magnetization saturation state; when the magnetic induction intensity measured by the magnetic field detection unit is different from the saturation magnetic induction intensity, according to a formula:
calculating the defect sectional area of the pipeline, wherein B1Represents saturation magnetic induction, B2Representing magnetic induction, a representing the cross-sectional area of the pipe, a representing the cross-sectional area of the defect area.
In view of the problems of the prior art, the pipeline robot is pressed against the inside of the pipeline at 3 points through the wheels, and the wheels are spaced at 120 degrees to form a stable state in the pipeline. This creation changes 2 point mode into, utilizes gasbag and power wheelset upper and lower respectively to the roof and the diapire of pipeline press to make pipeline robot can be stabilized in the pipeline, also consequently, no matter whether the pipeline is cylindric inner space or if the inner space of internal diameter nonconformity such as mine, or the angle column inner space again, this creation all can see through 2 point mode and form stably in inside. In addition, also utilize the elastic restoring force and the compressible characteristic of gasbag, make pipeline robot can remove in the pipeline of different internal diameters, various surface conditions in the adaptation pipeline also can, also can be to different situations in the pipeline simultaneously, see through the gas volume in the adjustment gasbag to this creation can adapt to different situations.
In addition, when the pipeline is damaged, the magnetic field of the damaged part can generate a magnetic leakage phenomenon, so that the device can check whether the pipeline is damaged or not by utilizing the characteristic, and can synchronously calculate the area of the damaged part by matching with a formula so as to be beneficial to relevant workers to carry out subsequent maintenance and other work.
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; 31-an inflation unit; 32-balloon type; 41-a magnetic unit; 42-a magnetic field detection unit; 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:
this creation is about a gasbag formula pipeline robot, its characterized in that includes:
a pipeline robot body 1, in 1 bottom of pipeline robot body is equipped with a power wheelset 2, in order to supply the drive pipeline robot body 1 marchs, two half gradually convergent and form a sharp portion 11 towards central authorities by controlling in 1 front side of pipeline robot body.
The top of the body 1 of the pipe machine is provided with an inflation unit 31, the top of the inflation unit 31 is provided with an air bag 32, and the inlet end of the air bag 32 is communicated with the inflation end of the inflation unit 31; the pipeline robot comprises a pipeline robot body 1 and is characterized in that a processor 5B is arranged in the pipeline robot body 1, the processor 5B is in information connection with an inflation unit 31, the processor 5B can control opening and closing of the inflation unit 31 so that an operation air bag 32 can be supported against the inner side of the top wall of the pipeline A after being inflated.
The pipeline robot body 1 is provided with a magnetic unit 41 and a magnetic field detection unit 42, the magnetic unit 41 can generate a magnetic field to enable the pipeline a to generate a magnetization saturation state, and the magnetic field detection unit 42 detects the saturation magnetic induction intensity of the pipeline a in the magnetization saturation state; when the magnetic induction measured by the magnetic field detection unit 42 is different from the saturation magnetic induction, according to the formula:
calculating the defect sectional area of the pipeline, wherein B1Represents saturation magnetic induction, B2Representing magnetic induction, a representing the cross-sectional area of the pipe, a representing the cross-sectional area of the defect area.
The advantages of this creation are as follows:
1. can be adapted to pipes A of various pipe diameters:
because this creation sees through power wheelset 2 with bag 32 withstands jointly from top to bottom pipeline A's roof and diapire, when the in-process of marcing meet when pipeline A's pipe diameter changes to some extent, if when getting into the less pipeline of internal diameter by the great pipeline of internal diameter, perhaps when getting into the great pipeline of internal diameter by the less pipeline of internal diameter again, the change of adaptation pipe diameter size can be worn through the inflation or the shrink of each bag 32, makes the process of marcing more stable.
2. And (3) stabilizing the overall position:
when the fluid speed is faster in the pipeline A, the balloon 32 can be inflated in the creation mode, so that the balloon 32 is rapidly expanded, and the force of the top wall of the pipeline A against the balloon 32 is improved.
3. Reducing the fluid resistance:
see through the tip 11, can make the gas bag formula pipe robot when removing in the fluid, reduce the resistance that the fluid brought by a wide margin, make the pipe robot be in the gas bag formula more smooth and easy when removing in pipeline A.
4. Detecting the damage condition in the pipeline:
when the pipeline A is damaged, the magnetic field of the damaged part can generate a magnetic leakage phenomenon, so that the device can check whether the pipeline is damaged or not by utilizing the characteristic, and can synchronously calculate the area of the damaged part by matching with a formula so as to be beneficial to relevant workers to carry out subsequent maintenance and other work.
Example 2:
since the balloon type pipe robot may be in a state where the level of the stagnant water in the pipe a is high, such a state may increase the resistance of the power wheel group 2 to cause an obstacle to traveling. 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 balloon type pipeline robot can almost be invisible in the advancing process of the robot under the condition in the pipeline A, can easily move in the pipeline A, and meanwhile, the characteristic of high ground grabbing force of the crawler belt is also used for helping the robot to simultaneously support the top wall and the bottom wall of the pipeline A and generate 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 in the pipe a through the image capturing result, so that the present creation can have a prospecting function, and in addition, the operator can also control the air bag type pipe robot through the control console 6, for example, the operator can control the traveling direction of the power wheel set 2 or control the direction of the image capturing unit 5E, so that the prospecting work of the pipe 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 control panel 6 can 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 comprises: 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 the silt flow velocity is detected to be too high, the processor 5B immediately controls the lifting unit 5D to lift the pipe robot body 1 upwards and controls the braking unit 5A to clamp the power wheel set 2, so that the pressing and supporting force path for the top wall and the bottom wall of the pipe a can be greatly improved, the static friction force between the airbag 32 and the top wall of the pipe a and between the power wheel set 2 and the bottom wall of the pipe a is greatly improved, and the impact caused by silt is resisted.
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.
Therefore, when the lifting unit 5D is actuated, the motor 51 can drive the lifting rod 52 to lift the pipeline robot body 1 upwards, which not only can be used for adjusting 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 assist the pipeline robot body 1 to avoid the turbulent water attack because the pipeline robot body 1 is lifted, so as to ensure the safety of the air 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 control panel 6 to control the operation of the alarm 61 by the console 6.
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 balloon-type 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 top of the body of the pipeline machine is provided with an inflation unit, the top of the inflation unit is provided with an air bag, and the inlet end of the air bag is communicated with the inflation end of the inflation unit; the processor is arranged in the pipeline robot body, the processor is in information connection with the inflation unit, and the processor can be used for controlling the opening and closing of the inflation unit so that the inflation bag can be supported against the inner side of the top wall of the pipeline in an operational mode;
the pipeline robot body is provided with a magnetic unit and a magnetic field detection unit, the magnetic unit can generate a magnetic field to enable the pipeline to generate a magnetization saturation state, and the magnetic field detection unit detects the saturation magnetic induction intensity of the pipeline in the magnetization saturation state; when the magnetic induction intensity measured by the magnetic field detection unit is different from the saturation magnetic induction intensity, according to a formula:
calculating the defect sectional area of the pipeline, wherein B1Represents saturation magnetic induction, B2Representing magnetic induction, a representing the cross-sectional area of the pipe, a representing the cross-sectional area of the defect area.
2. The airbag type pipeline robot of claim 1, further comprising a water level detecting unit in communication with the processor, wherein the water level detecting unit is capable of detecting the 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 air bag type pipeline robot of claim 2, wherein the power wheel set comprises a plurality of wheel bodies arranged in parallel in front and back, and a crawler is sleeved on the outer side of each wheel body together, so that each wheel body drives the crawler to rotate together when rotating.
4. The air bag type 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 airbag type 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 BLOB analysis is carried out 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 airbag type 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 panel 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 air bag type pipeline robot of 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 be used for detecting 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 actuate, and the processor transmits the positioning result of the positioning unit to the console.
8. The airbag type pipeline robot of claim 7, wherein the power wheel set is provided with a brake unit; the pipeline robot body is provided with a flow velocity detection unit, the flow velocity detection unit is in information connection with the processor, and the flow velocity detection unit can be used for detecting the flow velocity of the fluid in the pipeline to obtain a flow velocity detection result; the processor controls the lifting unit and the brake unit to move according to the flow speed detection result.
9. The balloon-type pipeline robot of claim 8, wherein the tip-from-bottom forms an arc surface.
10. The airbag-type 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*To a minimum pipe wall thicknessDegree; and when D is2<D*When the alarm is triggered, the processor sends a message to the control panel to control the operation of the alarm by the console.
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