CN113483150A - Submarine pipeline external detection equipment based on shape memory alloy and detection method thereof - Google Patents
Submarine pipeline external detection equipment based on shape memory alloy and detection method thereof Download PDFInfo
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- CN113483150A CN113483150A CN202110727121.6A CN202110727121A CN113483150A CN 113483150 A CN113483150 A CN 113483150A CN 202110727121 A CN202110727121 A CN 202110727121A CN 113483150 A CN113483150 A CN 113483150A
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- memory alloy
- paddle
- oar
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- submarine pipeline
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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
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/26—Repairing or joining pipes on or under water
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention belongs to the field of energy chemical industry, and relates to submarine pipeline external detection equipment based on shape memory alloy and a detection method thereof. The remote controller sends a control signal to the external Bluetooth on the water surface, the external Bluetooth transmits control information to the control chip on the circuit board through the data line, the control chip controls the corresponding memory alloy paddle to be electrified to generate bending deformation, and then the power is cut off to enable the whole robot to move through the restoring force of the paddle; and the camera transmits the underwater image to the Bluetooth module on the water surface, and the underwater image is checked through a video device connected with the Bluetooth module, such as a mobile phone or a computer, so that the purpose of detection is realized. Its main mechanism contains the platform main part, memory alloy oar, spoiler, battery, bluetooth module, circuit board, camera. Simple structure, low cost, easy operation, easy maintenance, noise are low, propulsion efficiency is high, have alleviateed the manpower, have released the labour, help reducing the detection cost, practice thrift the cost of enterprises.
Description
Technical Field
The invention belongs to the field of energy and chemical engineering, and particularly relates to underwater detection equipment based on shape memory alloy and a detection method thereof.
Background
The marine oil industry makes a great contribution to national economic development, and with the improvement of the great ocean countries on the importance of marine oil and gas resources, the exploration and development technology of the marine oil and gas resources is continuously developed and advanced. The submarine pipeline is used as an important component of offshore oil and gas development, is necessary for internal and external detection of the submarine pipeline in order to eliminate hidden operating hazards of the submarine pipeline, ensure safe and stable operation of the submarine pipeline and prolong the service life of the submarine pipeline, and the submarine pipeline detection technology continues to bear an important mission of protecting the safety of a 'life line' of offshore oil and gas development in the process of continuous development and progress.
The submarine pipeline bears working load for a long time, works in a complex marine environment, ocean current, salinity shallow sea and human activities can affect the submarine pipeline, the pipeline is easy to damage, if accidents caused by pipeline damage cannot be found and maintained in time, the pipeline will change from quantitative to qualitative, great difficulty can be brought to emergency repair, immeasurable damage can be brought to marine ecological environment, and huge direct economic loss is brought. The literature shows that: the submarine pipelines are influenced by human operation errors, human activities and natural environment factors from design to construction, hidden dangers are brought to the submarine pipeline safety, however, due to the particularity of the positions of the submarine pipelines, direct observation is difficult to achieve on the sea surface, submarine oil and gas pipeline leakage is larger than the hidden dangers of land oil and gas pipeline leakage and more difficult to find, once leakage occurs, the caused damage degree is higher, the processing difficulty is higher, and economic losses are more serious. Therefore, submarine pipeline detection has great significance for eliminating potential pipeline safety hazards and ensuring pipeline safety.
Disclosure of Invention
In order to solve the problems that underwater pipeline detection equipment on the market is high in noise and difficult to maintain, the traditional equipment is easily wound by cables, kelp, waste fishing nets and the like due to the fact that propeller propulsion is adopted, manual detection is influenced by factors such as weather, geographical positions and the like, the equipment is driven by a jet flow mode through shape memory alloy, and the problem of current pipeline detection can be solved to a great extent.
The invention provides a submarine pipeline external detection method based on shape memory alloy, which adopts the following technical scheme:
sending a control signal to external Bluetooth on the water surface through a remote controller, transmitting control information to a control chip on a circuit board through a data line by the external Bluetooth, controlling the corresponding memory alloy paddle to be electrified by the control chip to generate bending deformation, and then powering off to enable the whole detection equipment to move through the restoring force of the paddle; after the power supplies of the memory alloy paddle A, the memory alloy paddle B, the memory alloy paddle C and the memory alloy paddle D are switched on, the platform main body moves forwards through restoring force after deformation, the power supplies of the memory alloy paddle C and the memory alloy paddle D are only switched on during left rotation, the power supplies of the memory alloy paddle A and the memory alloy paddle B are only switched on during right rotation, the power supplies of the memory alloy paddle E and the memory alloy paddle F are only switched on during upward floating, and the downward sinking can be realized only by self weight; and the camera transmits the underwater image to the Bluetooth module on the water surface, and the aim of detection is fulfilled through the video equipment connected with the Bluetooth module.
Further, the memory alloy paddle is electrified to generate 150-degree bending deformation.
Furthermore, the power supply of the memory alloy paddle is connected, and the connection sequence of the current is controlled through the external Bluetooth and the remote controller.
The invention simplifies the traditional complicated mechanical structure device, and the shape memory alloy generates deformation under the condition of power-on heating, and the restoring force of the shape memory alloy is used for leading the platform to complete basic motions such as advancing, retreating, floating and the like. The invention also provides submarine pipeline external detection equipment based on the shape memory alloy, and the technical scheme is as follows:
including the platform main part, the memory alloy oar, the spoiler, the battery, bluetooth module, the circuit board, the camera, the memory alloy oar is four pairs altogether, wherein, memory alloy oar A is a pair of with memory alloy oar B, and two memory alloy oars C are a pair of with memory alloy oar D, and two memory alloy oars E are a pair of, and memory alloy oar F is a pair of, and eight memory alloy oars are installed in platform main part both sides, and memory alloy oar E, the memory alloy oar F that the intermediate position set up stagger the installation from top to bottom with the memory alloy oar A, memory alloy oar B, memory alloy oar C, the memory alloy oar D that set up around with.
Furthermore, the eight memory alloy paddles A-F are identical in shape and are cuboids with the length of 100mm, the height of 40mm and the thickness of 25 mm.
Furthermore, the flow plug is in the shape of a regular triangular prism with the bottom side being 40mm long and the height being 70mm, the flow plug is installed at the front end part of each memory alloy paddle, the bottom side of the flow plug is aligned with the side, far away from the platform main body, of each memory alloy paddle, and the side face of the flow plug is attached to each memory alloy paddle.
Furthermore, the storage battery is installed on the circuit board, and the memory alloy paddle is charged through the charging socket.
Furthermore, the bluetooth module passes through the external suspension of buoyancy board on the surface of water, adopts the data line to be connected bluetooth module and circuit board.
Furthermore, the camera is directly arranged on the platform main body, and the camera can receive pictures in real time through the mobile phone.
Compared with the prior art, the invention has the beneficial effects that:
the traditional mechanical design is abandoned, and the memory alloy realizes quick movement, thereby being beneficial to the pipeline transportation industry to detect pipelines. Simple structure, low cost, easy operation, easy maintenance, noise are low, propulsion efficiency is high, have alleviateed the manpower, have released the labour, help reducing the detection cost, practice thrift the cost of enterprises.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a top view of the present invention;
FIG. 2 is a cross-sectional view A-A of the platform body of FIG. 1;
fig. 3 is an overall front view of the present device.
In the figure: 1. the device comprises memory alloy paddles A, 2, a flow damper, 3, a platform main body, 4, a camera, 5, a circuit board, 6, a charging socket, 7, a memory alloy paddle B, 8, a memory alloy paddle C, 9, a memory alloy paddle D, 10, a memory alloy paddle E and 11, and a memory alloy paddle F.
Detailed Description
The invention is described in more detail below with reference to specific examples, without limiting the scope of the invention. Unless otherwise specified, the experimental methods adopted by the invention are all conventional methods, and experimental equipment, materials, reagents and the like used in the experimental method can be obtained from commercial sources.
Example 1
The device is mainly powered by a battery to enable the memory alloy sheet to generate deformation to provide power, thereby achieving the design purpose: the main mechanism of the device comprises a platform main body 3, a memory alloy paddle, a flow plug 2, a storage battery, a Bluetooth module, a circuit board 5 and a camera 4.
The memory alloy paddles are four pairs in total, wherein a memory alloy paddle A1 and a memory alloy paddle B9 are paired, a memory alloy paddle C8 and a memory alloy paddle D7 are paired, a memory alloy paddle E10 is paired, a memory alloy paddle F11 is paired, eight memory alloy paddles are installed on two sides of the platform main body, and the memory alloy paddle E11 and the memory alloy paddle F10 which are arranged in the middle are installed on two sides of the platform main body in a vertically staggered mode with the memory alloy paddles A1, the memory alloy paddles B9, the memory alloy paddles C8 and the memory alloy paddles D7 which are arranged in the front and at the back, so that mutual interference caused by deformation of the memory alloy paddles is eliminated.
The platform main body 3 is a carrier for connecting all main devices, and other devices can be installed and carried besides the above devices in order to meet different detection requirements.
The flow blocking device 2 is arranged at the front end part of each piece of memory alloy paddle and aims to eliminate the influence of water flow resistance during active deformation.
The storage battery is installed on the circuit board 5, charges the memory alloy paddle through the charging socket 6, and controls deformation of the memory alloy paddle through control over the circuit board 5.
The bluetooth module is suspended on the water surface through the buoyancy plate, and is connected with the circuit board 5 through the data line, so that bluetooth control and data transmission are performed.
The camera 4 is directly arranged on the platform main body 3, and the camera 4 can receive pictures in real time through a mobile phone so as to monitor and detect.
Example 2
After the power supplies of the memory alloy paddle A1, the memory alloy paddle B7, the memory alloy paddle C8 and the memory alloy paddle D9 are connected, the platform main body 3 moves forwards through restoring force after deformation, only the power supplies of the memory alloy paddle C8 and the memory alloy paddle D9 are connected during left rotation, only the power supplies of the memory alloy paddle A1 and the memory alloy paddle B7 are connected during right rotation, only the power supplies of the memory alloy paddle E10 and the memory alloy paddle F11 are connected when floating is needed, and sinking can be achieved only through self weight. The current connection sequence is controlled through the external Bluetooth and the remote controller, so that the purpose of current connection is achieved.
Example 3
The eight memory alloy paddles A1-F11 are identical in appearance and are cuboids with the length of 100mm, the height of 40mm and the thickness of 25mm, regular triangular prism flow restrictors 2 with the bottom side length of 40mm and the height of 70mm are mounted in front of the memory alloy paddles A1-F11, the bottom sides of the flow restrictors 2 are aligned with the sides, far away from the platform main body, of the memory alloy paddles, and the side faces of the flow restrictors 2 are attached to the memory alloy paddles. The memory alloy paddle E10 and the memory alloy paddle F11 are arranged vertically and staggeredly with other memory alloy paddles, so that mutual interference when the paddles are electrified to generate bending deformation of 150 degrees is avoided. The memory alloy paddle A1-D9 is responsible for planar motion, and the two pairs of the memory alloy paddle E10 and the memory alloy paddle F11 are responsible for upward floating motion.
Send control signal to the external bluetooth on the surface of water through the remote controller, external bluetooth passes through the data line and passes control information to the control chip on the circuit board 5, the power that the memory alloy oar that control chip control corresponds is circular telegram and is produced 150 flexural deformation to the direction of advance, the effect of the power that produces when reducing circular telegram by the spoiler avoids the robot to retreat, the outage makes whole robot remove through the power that the oar resumes to the straight state production again, and transmit the bluetooth module of the surface of water for the image under water through camera 4, through the video equipment who is connected with bluetooth module, look over like cell-phone computer etc., realize the purpose that detects.
The foregoing is merely a preferred embodiment of the invention and is not intended to represent the full scope of possible implementations of the invention. It should be noted that, for those skilled in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (9)
1. A submarine pipeline external detection method based on shape memory alloy is characterized in that a remote controller sends control signals to external Bluetooth on the water surface, the external Bluetooth transmits control information to a control chip on a circuit board (5) through a data line, the control chip controls corresponding memory alloy paddles to be electrified to generate bending deformation, and then the power is cut off to enable the whole detection equipment to move through the restoring force of the paddles; after the power supplies of the memory alloy paddle A (1), the memory alloy paddle B (7), the memory alloy paddle C (8) and the memory alloy paddle D (9) are switched on, the platform main body (3) moves forwards through restoring force after deformation, only the power supplies of the memory alloy paddle C (8) and the memory alloy paddle D (9) are switched on during left rotation, only the power supplies of the memory alloy paddle A (1) and the memory alloy paddle B (7) are switched on during right rotation, only the power supplies of the memory alloy paddle E (10) and the memory alloy paddle F (11) are switched on when upward floating is needed, and the downward sinking can be achieved only by self weight; and the camera (4) transmits the underwater image to the Bluetooth module on the water surface, and the aim of detection is fulfilled through the video equipment connected with the Bluetooth module.
2. The method as claimed in claim 1, wherein the shape memory alloy paddle is energized to generate 150 ° bending deformation.
3. The method as claimed in claim 1, wherein the power supply of the memory alloy paddle is connected to control the connection sequence of the current through an external Bluetooth and a remote controller.
4. The shape memory alloy-based submarine pipeline external detection equipment is characterized by comprising a platform main body (3), a memory alloy paddle, a flow plug (2), a storage battery, a Bluetooth module, a circuit board (5) and a camera (4); the memory alloy oar totally four pairs, wherein, memory alloy oar A (1) is a pair of with memory alloy oar B (9), memory alloy oar C (8) is a pair of with memory alloy oar D (7), two memory alloy oar E (10) are a pair of, two memory alloy oar F (11) are a pair of, and eight memory alloy oars are installed in platform main part both sides, memory alloy oar E (11), memory alloy oar F (10) that the intermediate position set up and memory alloy oar A (1), memory alloy oar B (9), memory alloy oar C (8), the memory alloy oar D (7) installation of staggering from top to bottom that sets up around with.
5. The shape memory alloy-based submarine pipeline external detection equipment according to claim 4, wherein the eight memory alloy paddles A (1) -F (11) are identical in shape and are cuboids with the length of 100mm, the height of 40mm and the thickness of 25 mm.
6. The external submarine pipeline inspection device based on shape memory alloy according to claim 4, wherein the flow plug (2) is in the shape of a regular triangular prism with a bottom side of 40mm and a height of 70mm, the flow plug (2) is installed at the front end part of each memory alloy paddle, the bottom side of the flow plug (2) is aligned with the side of the memory alloy paddle far away from the platform main body (3), and the side surface of the flow plug is attached to the memory alloy paddle.
7. The external submarine pipeline inspection device based on shape memory alloy according to claim 4, wherein the storage battery is mounted on the circuit board (5) and charges the memory alloy paddle through the charging socket (6).
8. The shape memory alloy-based submarine pipeline external detection device according to claim 4, wherein the Bluetooth module is suspended above the water surface through the external buoyancy plate, and the Bluetooth module is connected with the circuit board (5) through a data line.
9. The external submarine pipeline inspection device based on shape memory alloy according to claim 4, wherein the camera (4) is directly mounted on the platform body (3), and the camera (4) receives images in real time through a mobile phone.
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| CN202110727121.6A CN113483150B (en) | 2021-06-29 | 2021-06-29 | Submarine pipeline external detection equipment based on shape memory alloy and detection method thereof |
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| CN202110727121.6A CN113483150B (en) | 2021-06-29 | 2021-06-29 | Submarine pipeline external detection equipment based on shape memory alloy and detection method thereof |
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| CN113483150A true CN113483150A (en) | 2021-10-08 |
| CN113483150B CN113483150B (en) | 2022-09-06 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2026888A (en) * | 1933-10-07 | 1936-01-07 | Granger Albert | Boat propelling device |
| GB962917A (en) * | 1961-02-28 | 1964-07-08 | Roy George Ley | An improved reciprocating device for impelling or manoeuvring watercraft |
| CN1903656A (en) * | 2006-07-28 | 2007-01-31 | 哈尔滨工业大学 | Shape memory alloy wire driven pectoral wave pushing bionic underwater robot |
| CN103213665A (en) * | 2013-05-09 | 2013-07-24 | 中国科学院自动化研究所 | Biomimetic long-fin undulatory propulsion robotic fish |
| US20130210294A1 (en) * | 2012-02-14 | 2013-08-15 | Sung Hoon Ahn | Underwater Robot Based on Flapping |
| CN103863539A (en) * | 2014-03-12 | 2014-06-18 | 卢小平 | Biomimetic swimming device |
| US20160083060A1 (en) * | 2013-07-11 | 2016-03-24 | Edouard KASSIANOFF | Oscillating propulsor |
-
2021
- 2021-06-29 CN CN202110727121.6A patent/CN113483150B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2026888A (en) * | 1933-10-07 | 1936-01-07 | Granger Albert | Boat propelling device |
| GB962917A (en) * | 1961-02-28 | 1964-07-08 | Roy George Ley | An improved reciprocating device for impelling or manoeuvring watercraft |
| CN1903656A (en) * | 2006-07-28 | 2007-01-31 | 哈尔滨工业大学 | Shape memory alloy wire driven pectoral wave pushing bionic underwater robot |
| US20130210294A1 (en) * | 2012-02-14 | 2013-08-15 | Sung Hoon Ahn | Underwater Robot Based on Flapping |
| CN103213665A (en) * | 2013-05-09 | 2013-07-24 | 中国科学院自动化研究所 | Biomimetic long-fin undulatory propulsion robotic fish |
| US20160083060A1 (en) * | 2013-07-11 | 2016-03-24 | Edouard KASSIANOFF | Oscillating propulsor |
| CN103863539A (en) * | 2014-03-12 | 2014-06-18 | 卢小平 | Biomimetic swimming device |
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