CN113223258A

CN113223258A - Method for detecting and removing foreign matters in underwater pipeline

Info

Publication number: CN113223258A
Application number: CN202110587966.XA
Authority: CN
Inventors: 丁溶; 江根萍; 彭梦; 罗晓雪
Original assignee: Xiangtan University
Current assignee: Xiangtan University
Priority date: 2021-05-28
Filing date: 2021-05-28
Publication date: 2021-08-06

Abstract

The invention provides a method for detecting and removing foreign matters in an underwater pipeline. The method is characterized in that power is supplied through a power supply module, after a camera module detects foreign matters on an underwater pipeline, data of the detected foreign matters are fed back to a controller, meanwhile, a foreign matter removing module is controlled to remove the detected foreign matters on the underwater pipeline, and after the controller receives the data fed back by the camera module, an alarm flash module is controlled to light an alarm flash lamp. The method can complete the detection and investigation work of the underwater pipeline, remove foreign matters from the underwater pipeline and clean the underwater pipeline, thereby reducing the accidents of the underwater pipeline.

Description

Method for detecting and removing foreign matters in underwater pipeline

Technical Field

The invention relates to the field of underwater pipelines, in particular to a method for detecting and removing foreign matters in an underwater pipeline.

Background

The underwater pipeline is laid under water in rivers, lakes and seas for conveying liquid, gas or loose solids, is not limited by water depth, topography and other conditions, has high conveying efficiency and low energy consumption, but is difficult to inspect and maintain. The underwater pipeline is in a severe environment, and if an accident occurs to an underwater facility, the outflow of mineral resources can be caused, so that the resources are wasted, and the operation and the life safety of related personnel are threatened, thereby causing a devastating disaster to an underwater ecosystem and the environment. In addition, foreign objects such as garbage, mud, and dead underwater organisms adhere to the underwater pipeline, greatly increasing the probability of failure of the underwater pipeline. Therefore, it is necessary to perform necessary periodic inspection and troubleshooting on the underwater pipeline laying facility and to remove foreign matters on the underwater pipeline in time.

At present, a diver underwater operation mode is mainly adopted for detecting, examining and removing foreign matters from an underwater pipeline, the detection efficiency is low, the method is influenced by silt and underwater organisms, large-area general investigation cannot be realized, and a quick and effective method is not provided in the industry.

Disclosure of Invention

The invention aims to provide a method for detecting and removing foreign matters in an underwater pipeline, which can complete the detection and inspection work of the underwater pipeline, remove the foreign matters from the underwater pipeline and clean the underwater pipeline, thereby reducing the accidents of the underwater pipeline.

In order to solve the problems, the invention adopts the following technical scheme:

a method for detecting and removing foreign matters in an underwater pipeline comprises a power supply module, a camera module, a controller, an alarm flashing module and a foreign matter removing module.

The power module is used for supplying power to the camera module, the controller and the foreign matter removing module.

The camera module is connected with the controller and the foreign matter removing module and used for detecting foreign matters on the underwater pipeline, after the camera module detects the foreign matters, the data of the detected foreign matters are fed back to the controller, and meanwhile, the foreign matter removing module is controlled to remove the detected foreign matters on the underwater pipeline.

The controller is connected with the alarm flashing module and controls the alarm flashing module to light the alarm flashing lamp after receiving the data fed back by the camera module.

The alarm flash module is used for lighting the alarm flash lamp after the camera module detects the foreign matters.

The foreign matter removing module comprises a steering engine and a mechanical claw.

The steering engine is connected with the camera module, and the mechanical claw is driven to move under the control of the camera module.

The mechanical claw is connected with the steering engine and used for removing foreign matters on the underwater pipeline.

A method of detecting and removing foreign matter from an underwater pipeline, comprising the steps of:

s1, the camera module detects foreign matters on the underwater pipeline, communicates with the controller, feeds back the detected foreign matters to the controller, and simultaneously generates a control signal to control the frequency and the angle of the motion of the steering engine, so that the mechanical claw is driven to move to remove the detected foreign matters on the underwater pipeline and clean the underwater pipeline;

and S2, the controller receives the data fed back by the camera module and generates a control signal to control the alarm flash module to light the alarm flash.

Has the advantages that: the invention provides a method for detecting and removing foreign matters in an underwater pipeline, which is powered by a power supply module, wherein after a camera module detects foreign matters on the underwater pipeline, the camera module feeds detected data of the foreign matters back to a controller, and simultaneously controls a foreign matter removing module to remove the detected foreign matters on the underwater pipeline, and after the controller receives the data fed back by the camera module, the controller controls an alarm flash module to light an alarm flash lamp. The method can complete the detection and investigation work of the underwater pipeline, remove foreign matters from the underwater pipeline and clean the underwater pipeline, thereby reducing the accidents of the underwater pipeline.

Drawings

FIG. 1 is a schematic view of a connection structure of a method of detecting and removing foreign matter from an underwater pipeline according to the present invention;

FIG. 2 is a flow chart of a method of detecting and removing a foreign object from an underwater pipeline of the present invention.

The labels in the figure are: 1-a power supply module; 2-a camera module; 3-a controller; 4-alarm flash module; 5-removing the foreign body module; 51-a steering engine; 52-mechanical gripper.

Detailed Description

The invention provides a method for detecting and removing foreign matters in an underwater pipeline. In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It should be understood that the embodiments described herein are only for illustrating the present invention and are not to be construed as limiting the present invention.

Please refer to fig. 1, which is a schematic diagram of a connection structure of a method for detecting and removing a foreign object in an underwater pipeline according to the present invention, and the connection structure includes a power module 1, a camera module 2, a controller 3, an alarm and flash module 4, a foreign object removing module 5, a steering engine 51, and a gripper 52.

The power module 1 is used to supply power to the camera module 2, the controller 3, and the foreign substance removal module 5.

The camera module 2 is connected with the controller 3 and the foreign matter removing module 5 and is used for detecting foreign matters on the underwater pipeline, after the camera module 2 detects the foreign matters, the data of the detected foreign matters are fed back to the controller 3, and meanwhile, the foreign matter removing module 5 is controlled to remove the detected foreign matters on the underwater pipeline.

The controller 3 is connected with the alarm flash module 4, and controls the alarm flash module 4 to light the alarm flash after receiving the data fed back by the camera module 2.

The alarm flash module 4 is used for lighting an alarm flash lamp after the camera module 2 detects the foreign matters.

The foreign matter removing module 5 comprises a steering engine 51 and a mechanical claw 52; the steering engine 51 is connected with the camera module 2, and drives the mechanical claw 52 to move under the control of the camera module 2; the mechanical claw 52 is connected with the steering engine 51 and used for removing foreign matters on the underwater pipeline.

Referring to fig. 2, it is a flow chart of a method for detecting and removing foreign objects in an underwater pipeline according to the present invention, as shown in the figure, comprising the following steps:

s1, when the camera module 2 detects foreign matters on the underwater pipeline, the camera module communicates with the controller 3, and feeds back the data of the detected foreign matters to the controller 3, and simultaneously generates a control signal to control the frequency and the angle of the movement of the steering engine 51, so that the mechanical claw 52 is driven to move to remove the detected foreign matters on the underwater pipeline and clean the underwater pipeline;

and S2, the controller 3 receives the data fed back by the camera module 2 and generates a control signal to control the alarm flash module 4 to light the alarm flash.

Claims

1. A method for detecting and removing foreign objects in an underwater pipeline,

the device comprises a power module (1), a camera module (2), a controller (3), an alarm flash module (4) and a foreign matter removing module (5); the power supply module (1) is used for supplying power to the camera module (2), the controller (3) and the foreign matter removal module (5);

the camera module (2) is connected with the controller (3) and the foreign matter removing module (5) and is used for detecting foreign matters on the underwater pipeline, after the camera module (2) detects the foreign matters, the data of the detected foreign matters are fed back to the controller (3), and meanwhile, the foreign matter removing module (5) is controlled to remove the detected foreign matters on the underwater pipeline; the controller (3) is connected with the alarm flash module (4), and controls the alarm flash module (4) to turn on an alarm flash lamp after receiving data fed back by the camera module (2); the alarm flash module (4) is used for lighting an alarm flash lamp after the camera module (2) detects the foreign matters; the foreign matter removing module (5) comprises a steering engine (51) and a mechanical claw (52); the steering engine (51) is connected with the camera module (2), and the mechanical claw (52) is driven to move under the control of the camera module (2); the mechanical claw (52) is connected with the steering engine (51) and used for removing foreign matters on the underwater pipeline.

2. A method of detecting and removing a foreign object from an underwater pipeline as claimed in claim 1, comprising the steps of: s1, when the camera module (2) detects foreign matters on the underwater pipeline, the camera module is communicated with the controller (3), and when data of the detected foreign matters are fed back to the controller (3), a control signal is generated to control the frequency and the angle of the motion of the steering engine (51), so that the mechanical claw (52) is driven to move to remove the detected foreign matters on the underwater pipeline and clean the underwater pipeline; and S2, the controller (3) receives data fed back by the camera module (2) and generates a control signal to control the alarm flash module (4) to turn on the alarm flash lamp.