CN114542847A - Self-creeping detection instrument for long oil pipeline - Google Patents
Self-creeping detection instrument for long oil pipeline Download PDFInfo
- Publication number
- CN114542847A CN114542847A CN202210447538.1A CN202210447538A CN114542847A CN 114542847 A CN114542847 A CN 114542847A CN 202210447538 A CN202210447538 A CN 202210447538A CN 114542847 A CN114542847 A CN 114542847A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- detection
- frame
- self
- support arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 88
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 239000002184 metal Substances 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 11
- 239000000523 sample Substances 0.000 claims description 30
- 238000012545 processing Methods 0.000 claims description 24
- 241000219098 Parthenocissus Species 0.000 claims description 11
- 230000009193 crawling Effects 0.000 claims description 7
- 238000010191 image analysis Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 21
- 230000007797 corrosion Effects 0.000 abstract description 4
- 238000005260 corrosion Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 4
- 230000006978 adaptation Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 abstract 2
- 239000007789 gas Substances 0.000 abstract 1
- 239000003345 natural gas Substances 0.000 abstract 1
- 239000003209 petroleum derivative Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000007903 penetration ability Effects 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000000709 aorta Anatomy 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000009411 base construction Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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 relates to the field of petroleum and natural gas storage, transportation and transportation pipeline detection, in particular to a self-creeping detection instrument for a long oil transportation pipeline. The long-distance oil and gas pipeline self-crawling detection instrument can adapt to the inner diameter of a pipeline automatically and is provided with an autonomous reducing mechanism, a plurality of independent reducing driving units and an intelligent sensing pipeline detection unit. The method comprises the following steps: the crawler frame comprises a crawler frame base body, a driving wheel assembly, a detection unit module, a crawler main controller and a multifunctional data acquisition unit. The system realizes automatic adaptation to the change of the inner diameter of the pipeline when working in the pipeline, realizes the change of driving force for the adjustment of the pressure of the inner wall of the pipeline, adopts a plurality of driving wheels for direct driving, has high driving efficiency and high walking speed, has a wireless communication function, can detect the communication in real time on line, is used for detecting in the pipeline, carries a metal defect detection sensor and an image video recorder, and realizes the detection of pipeline deformation, surface corrosion and inner wall of the pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a self-crawling detection instrument for a long oil conveying pipeline.
Background
The pipeline is called as the national energy aorta, has important significance for guaranteeing national energy supply, and the oil and gas pipeline becomes an important transportation mode for transporting oil and gas resources in national economic life.
With the aging of the service of the pipeline, various defects can appear in the pipeline due to the action of corrosion and stress. Therefore, the pipeline needs to be regularly and effectively detected, and defects are timely eliminated, so that the occurrence of pipeline breakage accidents is reduced.
The prior technical means of pipeline detection is to use a differential pressure driven pipeline robot-pipe cleaner, which utilizes the fluid pressure difference at two ends of the robot in a pipeline to provide power, overcomes the friction force between the pipe wall and a leather cup and drives the robot to walk along the pipeline. Its advantages are simple structure, long range, and no power, so its speed is not controllable and it can not run in reverse direction.
Disclosure of Invention
The application provides a be applicable to long distance oil gas pipeline from crawling detecting instrument, solved current pigging detector speed uncontrollable, detect pipeline data information single problem, realize that key pipeline section can stop key detection.
The application provides a long oil pipeline is from crawling detecting instrument, includes: the crawler comprises a crawler frame base body, an independent reducing driving unit, an intelligent sensing pipeline detection unit, a crawler main controller and a multifunctional data acquisition unit.
The creeper frame base body comprises a first frame and a second frame which are opposite to each other, and the first frame is connected with the second frame through a plurality of main beams which are arranged in parallel.
Every girder both ends all are equipped with a reducing mechanism respectively and connect the journal stirrup, reducing mechanism connects the journal stirrup to be equipped with support arm journal stirrup, detection ring journal stirrup between the central point of girder puts in proper order, the support arm journal stirrup is every the symmetry sets up two on the girder.
The first end cover is arranged outside the first frame, the second end cover is arranged outside the second frame, the first end cover is fixedly connected with the first frame through screws, and the second end cover is fixedly connected with the second frame through screws.
The independent reducing driving unit comprises an electric reducing rod, and one end of the electric reducing rod is hinged to the reducing mechanism connecting support lug through a connecting shaft.
The intelligent sensing pipeline detection unit comprises a metal ring and a detection sensor module, the detection sensor module is fixedly connected with the metal ring through a bolt, the metal ring is arranged outside the creeper frame base body, and the metal ring is fixedly connected with the detection ring support lug through a bolt.
The crawler main controller is fixed on the first end cover through a bolt, a main control circuit board is arranged in the crawler main controller, and the main control circuit board is electrically connected with the electric reducer and the detection sensor module.
The multifunctional data collector is fixed on the second end cover through a bolt.
Preferably, the creeper frame base further includes a skin.
The skin is arranged at the interval between the main beam and the first frame and between the main beam and the second frame, and the skin is fixedly connected with the edges of the main beam and between the main beam and the second frame.
Preferably, the independent reducing drive unit further comprises a support arm.
One end of the support arm is provided with a wheel shaft, the other end of the support arm is provided with a support arm support lug connecting shaft, the upper end of the wheel shaft is connected with a driving wheel internally provided with a driving motor, and the support arm support lug connecting shaft is hinged with the support arm support lug.
And a support arm connecting shaft is arranged in the middle of the support arm and is hinged with the other end of the electric reducing rod.
Preferably, the detection sensor module is a cube with a parallelogram cross section and comprises a probe module, a first connecting rod, a second connecting rod and a base.
The probe module is characterized in that four corners of the probe module are respectively provided with a roller, a first shaft and a second shaft are arranged on the probe module in parallel, one end of the first connecting rod is connected with the probe module through the first shaft, and one end of the second connecting rod is connected with the probe module through the second shaft.
The base is an L-shaped structure, a third shaft is arranged at a corner position of the base, and the other end of the first connecting rod is connected with the base through the third shaft.
One end of the short side of the base is provided with a pull rod, a spring is sleeved on the pull rod, a nut is arranged above the spring and is in threaded connection with one end of the pull rod, the other end of the pull rod penetrates through the base, and the pull rod is in rotary connection with the other end of the second connecting rod through a fourth shaft.
Preferably, the detection ring support lugs are arranged on each main beam symmetrically, and the intelligent sensing pipeline detection units are arranged in two.
Preferably, the number of the detection sensor modules on the intelligent sensing pipeline detection unit is more than or equal to two.
Preferably, a magnetic sensing element is arranged inside the probe module.
Preferably, the crawler main controller includes: the cabin body, cabin body inside is equipped with the main control circuit board, with cabin body outside is equipped with the cabin cover, the cabin cover pass through the bolt with cabin body sealing connection, be equipped with communication antenna on the cabin cover terminal surface, communication antenna with the main control circuit board electricity is connected.
Preferably, the multifunctional data collector is integrated with a video image analysis processing system, an IMU inertial navigator and a data memory.
According to the technical scheme, the crawler type pipe length measuring device solves the problem that a pipeline robot can actively adapt to pipe diameter changes in a self-adaptive mode, changes and diameter changes of driving force of the crawler are achieved by adjusting pressure of the inner wall of a pipeline, the crawler type pipe length measuring device can walk in two directions, speed is adjustable, and stay detection of important pipe sections can be achieved; the self-crawling detection instrument can actively change diameter according to the caliber and deformation of a pipeline, is provided with a plurality of independent driving units, has adjustable driving force and is suitable for different working conditions such as level and climbing; the multifunctional data acquisition instrument is provided, and can record the trend of the central line of the pipeline and the video image information in the pipeline; the method can collect and detect various information such as corrosion, cracks, holes and deformation, regularly and effectively detect the pipeline, and timely eliminate defects so as to reduce the occurrence of pipeline breakage accidents.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the embodiments of the invention and, together with the description, serve to explain the principles of the embodiments of the invention. It is obvious that the drawings in the following description are only some of the embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic structural diagram of a self-creeping detection instrument for a long oil pipeline according to the present application;
FIG. 2 is a schematic view of a creeper frame base construction according to the present application;
FIG. 3 is a schematic structural diagram of an independent variable diameter drive unit according to the present application;
FIG. 4 is a schematic structural diagram of an intelligent sensing pipeline detection unit according to the present application;
FIG. 5 is a schematic view of a detection sensor module according to the present application;
FIG. 6 is a schematic diagram of a main controller of a crawler according to the present application;
the meaning of the various reference numbers in the figures is:
1-a crawler frame base body, 2-an independent reducing drive unit, 3-an intelligent sensing pipeline detection unit, 4-a crawler main controller, 5-a multifunctional data acquisition device, 11-a main beam, 12-a support arm support lug, 13-a reducing mechanism connecting support lug, 14-a skin, 15-a first end cover, 16-a second end cover, 17-a first frame, 18-a second frame, 19-a detection ring support lug, 21-a driving wheel, 22-a wheel shaft, 23-a support arm connecting shaft, 24-a support arm, 25-a support arm support lug connecting shaft, 26-an electric reducing rod, 27-a connecting shaft, 31-a metal ring, 32-a detection sensor module, 33-a probe module, 34-a roller, 35-a first connecting rod, 36-a second connecting rod, 37-base, 38-fourth shaft, 39-pull rod, 300-nut, 311-spring, 322-third shaft, 333-second shaft, 344-first shaft, 41-cabin, 42-main control circuit board, 43-cabin cover, 44-communication antenna.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, apparatus, steps, and so forth. In other instances, well-known techniques have not been shown or described in detail to avoid obscuring aspects of embodiments of the invention.
As shown in fig. 1, the present embodiment provides a self-crawling detection apparatus for a long oil transportation pipeline, including: the crawler frame comprises a crawler frame base body 1, an independent reducing driving unit 2, an intelligent sensing pipeline detection unit 3, a crawler main controller 4 and a multifunctional data acquisition unit 5.
In this embodiment, the creeper frame base 1 is a frame and a support with an integral structure, as shown in fig. 2, the creeper frame base 1 includes a first frame 17 and a second frame 18 which are opposite to each other, and the first frame 17 and the second frame 18 are connected by a plurality of main beams 11 which are arranged in parallel.
Every 11 both ends of girder all are equipped with a reducing mechanism and connect journal stirrup 13 respectively, reducing mechanism connects journal stirrup 13 to be equipped with support arm journal stirrup 12, detection ring journal stirrup 19 between the central point of girder 11 in proper order, support arm journal stirrup 12 is every the symmetry sets up two on the girder 11.
Furthermore, the reducing mechanism is connected with a support lug 13, the support arm support lug 12 and the detection ring support lug 19, and the main beam 11 are fixedly connected through bolts.
A first end cover 15 is arranged outside the first frame 17, a second end cover 16 is arranged outside the second frame 18, the first end cover 15 is fixedly connected with the first frame 17 through screws, and the second end cover 16 is fixedly connected with the second frame 18 through screws.
In this embodiment, will crawler frame base member 1 is whole to be set up to hexagon upright column, and the circular structure of adaptation pipeline that hexagonal state can be better, adopt modes such as welding, bolted connection between each structure of crawler frame base member 1, overall structure is more stable, first frame with the second frame also can set up to regular octagon, regular twelve limit line isotructure to adapt to the pipeline condition of different demands, and corresponding increase or reduce other structure quantity.
Be equipped with on girder 11 reducing mechanism connect journal stirrup 13 with support arm journal stirrup 12, through these two journal stirrup structures with independent reducing drive unit 2 connects, and two journal stirrups are a pair of, make independent reducing drive unit 2 with crawler frame base member 1 connects more stably when the reducing drive unit carries out the reducing, the difficult condition that drops that becomes flexible appears.
Further, in some embodiments, the creeper frame base 1 further includes a skin 14.
The skin 14 is arranged at the interval between the main beam 11 and the first frame 17 and between the main beam 11 and the second frame 18, and the skin 14 and the main beam 11 are fixedly connected with the edges of the first frame 17 and the second frame 18.
In some embodiments, the skin 14 may protect the creeper frame base 1.
As shown in fig. 3, in this embodiment, the independent reducing drive unit 2 includes an electric reducing rod 26, and one end of the electric reducing rod 26 is hinged to the reducing mechanism connecting lug 13 through a connecting shaft 27.
The electric reducing rod 26 enables the self-crawling detection instrument to pass through pipelines with different diameters, automatically reduces the diameter according to real-time feedback information, and can provide pressure through reducing when passing through road sections such as an ascending slope and a descending slope, so that the self-crawling detection instrument stably passes through a special road section.
Further, the independent reducing drive unit 2 further comprises a support arm 24.
One end of the support arm 24 is provided with a wheel shaft 22, the other end of the support arm is provided with a support arm support lug connecting shaft 25, the upper end of the wheel shaft 22 is connected with a driving wheel 21 with a built-in driving motor, and the support arm support lug connecting shaft 25 is hinged with the support arm support lug 12.
And a support arm connecting shaft 23 is arranged in the middle of the support arm 24, and the support arm connecting shaft 23 is hinged with the other end of the electric reducing rod 26.
In this embodiment, every 11 both ends of girder have and are equipped with reducing mechanism connect journal stirrup 13 with support arm journal stirrup 12, independent reducing drive unit 2 with reducing mechanism connect journal stirrup 13 with support arm journal stirrup 12 one-to-one, interconnect, consequently, total twelve on the instrument of crawling independent reducing drive unit 2, six at every end centers on from crawling detecting instrument a week, the shape of the circular pipeline of perfect laminating of ability like this, at the in-process of crawling, because electric reducing pole 26 length is freely adjusted by every individual, mutually noninterfere, when having the barrier the detecting instrument of crawling also can normally pass through.
As shown in fig. 4, in this embodiment, the intelligent sensing pipeline detection unit 3 includes a metal ring 31 and a detection sensor module 32, the detection sensor module 32 is fixedly connected to the metal ring 31 through a bolt, the metal ring 31 is disposed outside the creeper frame base 1, and the metal ring 31 is fixedly connected to the detection ring support lug 19 through a bolt.
Further, the detection sensor module 32 is a cube with a parallelogram cross section, and includes a probe module 33, a first link 35, a second link 36, and a base 37.
The four corners of the probe module 33 are respectively provided with the rollers 34, the probe module 33 is provided with a first shaft 344 and a second shaft 333 in parallel, one end of the first connecting rod 35 is connected with the probe module 33 through the first shaft 344, and one end of the second connecting rod 36 is connected with the probe module 33 through the second shaft 333.
Furthermore, an acquisition sensor is arranged in the probe module.
Further, the detection ring support lugs 19 are symmetrically arranged on each main beam 11, and the intelligent sensing pipeline detection units 3 are provided with two.
In this embodiment, intelligent sensing pipeline detecting element 3 passes through metal ring 31 cover is in crawler frame base member 1 is outside, through the bolt fastening, convenient to detach and installation, the structure that is equipped with on the intelligent sensing pipeline detecting element 3 is more, nevertheless all constitutes relatively independent module, in the use, when normal wearing and tearing destroy appear, can be very fast find out damaged position to replace easily, do not influence subsequent normal use.
The probe module 33 is provided with a magnetic sensor inside, which is a sensor sensitive to magnetic signals or signal parameters that can be converted into magnetic signals, and has a function of converting magnetic physical quantities into electrical signals. The magnetic sensing element has the advantages of simple structure, small volume, easy integration, impact resistance, wide frequency response (from direct current to microwave), large dynamic range, non-contact detection, no abrasion, pollution resistance, no spark, safe use and long service life.
The base 37 is an L-shaped structure, a third shaft 322 is arranged at a corner of the base 37, and the other end of the first connecting rod 35 is connected to the base 37 through the third shaft 322.
A pull rod 39 is arranged at one end of the short side of the base 37, a spring 311 is sleeved on the pull rod 39, a nut 300 is arranged above the spring 311, the nut 300 is in threaded connection with one end of the pull rod 39, the other end of the pull rod 39 penetrates through the base 37, and the pull rod 39 is in rotary connection with the other end of the second connecting rod 36 through a fourth shaft 38.
Further, the number of the detection sensor modules 32 on the intelligent sensing pipeline detection unit 3 is greater than or equal to two.
In the present invention, each detection sensor module 32 is provided with the probe module 33, as can be seen from fig. 4, in this embodiment, each intelligent sensing pipeline detection unit 3 is provided with twelve probe modules 33, and the whole self-crawling detection instrument is provided with twenty-four probe modules 33, in an actual use process, the number of the probe modules 33 can be appropriately selected according to the size of a pipeline, but in order to ensure basic detection requirements, the number of the probe modules 33 on each intelligent sensing pipeline detection unit 3 should not be less than two, and when the diameter of the pipeline is narrow, the two probe modules 33 can basically cover the range of the inner wall of the pipeline to be detected, and the number of the probe modules 33 increases or decreases with the size of the diameter of the pipeline, so as to ensure the best detection effect.
The crawler main controller 4 is fixed on the first end cover 15 through bolts, a main control circuit board 42 is arranged in the crawler main controller, and the main control circuit board 42 is electrically connected with the electric reducing rod 26 and the detection sensor module 32.
Further, the crawler main controller 4 includes: the portable multifunctional cabin comprises a cabin body 41, wherein a main control circuit board 42 is arranged inside the cabin body, a cabin cover 43 is arranged outside the cabin body 41, the cabin cover 43 is connected with the cabin body 41 in a sealing mode through bolts, a communication antenna 44 is arranged on the end face of the cabin cover 43, and the communication antenna 44 is electrically connected with the main control circuit board 42.
In this embodiment, the main control circuit board 42 in the main controller 4 of the crawler controls the movement of the self-crawling detection instrument, and transmits data information to ground workers through the communication antenna 44, so as to ensure that the workers monitor the condition of the inner wall of the pipeline in real time, and perform and record information or control the self-crawling instrument when necessary.
The multifunctional data collector 5 is fixed on the second end cover 16 through bolts.
Further, the multifunctional data collector 5 is integrated with an image collecting system, a video image analyzing and processing system, an IMU inertial navigator and a data memory.
The multifunctional data collector 5 can relate to the processes of collecting, transmitting, processing, displaying, replaying and the like of video image data in the video image processing process, and the processes form the whole period of a system together and can be operated continuously. The video image analysis processing system in the present embodiment mainly includes an image compression technique, a video image processing technique, and the like in the scope of the video image processing technique. Currently, mainstream video image processing techniques include: intelligent analysis processing, video fog penetration and permeability improvement technology, digital image width dynamic processing and super-resolution image processing technology, and the four processing technologies are respectively described below. In some embodiments, appropriate technical support may be selected as appropriate.
Intelligent analysis processing technology: the method is an important means for solving the technical problems of big data screening and retrieval in the field of video monitoring. At present, the domestic intelligent analysis technology can be divided into two categories: one is to detect the movement of an object in a picture by methods such as foreground extraction and the like, and to distinguish different behaviors such as line mixing, article leaving, perimeter and the like by setting rules: the other type is that a mode recognition technology is used for carrying out targeted modeling on an object to be monitored in a picture, so that the detection and related application of a specific object in a video are achieved, such as vehicle detection, people flow statistics, face detection and the like.
The video fog penetration and permeability improvement technology comprises the following steps: generally, the method is used for making a hazy image caused by fog, moisture, dust and the like become clear, emphasizing certain interesting features in the image and inhibiting uninteresting features, so that the quality of the image is improved and the information content is richer. Due to the problems of poor image contrast, low resolution, blurred images, incapability of identifying characteristics and the like of the video monitoring images caused by severe conditions such as haze weather, rain and snow, strong light, dim light and the like, the images subjected to anti-reflection processing can provide good conditions for the next application of the images.
Digital image width dynamic processing: the wide dynamic range is a basic feature in digital image processing, and occupies an important position in image and vision recovery, which is related to the imaging quality of the final image. The dynamic range is mainly determined by the guard signal level and the average noise ratio, wherein the dynamic range can be defined from the light energy.
Super-resolution image processing technology: is a technique for reconstructing a high resolution high quality image using a plurality of frames of mutually displaced low resolution degraded images with respect to the same scene. The concept and origin of the super-resolution image processing technology are introduced; the current state of research on super-resolution image restoration is reviewed. The main method for processing the single-frame and multi-frame super-resolution images is mainly reviewed, and the advantages and the disadvantages of the frequency domain and the spatial domain method are summarized and compared. Finally, introduction and prospect are carried out on the technical difficulty and the leading-edge problem research prospect of the super-resolution image processing technology.
In this embodiment, an IMU inertial navigator is also provided, the IMU being an inertial measurement unit, typically comprising three orthogonal rate gyroscopes and three orthogonal accelerometers, measuring angular velocity and linear acceleration, respectively. By processing signals from these devices, the location and orientation of the devices can be tracked. Inertial navigation is a self-contained navigation technique in which measurements provided by accelerometers and gyroscopes are used to track the position and orientation of an object relative to a known starting point, direction and velocity.
An inertial navigation system includes at least a computer and a platform or module containing an accelerometer, gyroscope or other motion sensing device. The position and velocity and initial orientation of the inertial navigation system are initially obtained from another source (human operator, GPS satellite receiver, etc.), and then the updated position and velocity of the inertial navigation system is calculated by integrating the information received from the motion sensors. An advantage of an inertial navigation system is that after initialization, its position, direction or velocity can be determined without external reference. The inertial navigation system can detect changes in its geographic location (e.g., moving east or north), changes in its speed (speed and direction of motion), and changes in direction (pivoting). Inertial navigation systems are implemented by measuring linear acceleration and angular velocity applied to the system. Since the inertial navigation system does not require an external reference, it is not disturbed and spoofed. In this embodiment, the IMU inertial navigator ensures the operation of the self-crawling instrument through an inertial navigation system to determine the position and the traveling direction of the self-crawling instrument, so as to obtain the position of the fault, thereby facilitating the later maintenance.
The working principle and the process of the self-crawling detection instrument are as follows: when the self-crawling detection instrument runs in a pipeline, the electric reducing rods 26 of the independent reducing driving units 2 can actively stretch out and draw back, so that the driving wheels 21 are ensured to be in close contact with the inner wall of the pipeline, and the driving force is ensured to be adjustable. When large deformation occurs, the video image analysis processing system in the front-end multifunctional data collector 5 can perform image recognition analysis on the large deformation, and the electric reducer 26 can stretch and contract to pass through the deformation position according to the image recognition information of the multifunctional data collector 5. When a long-distance uphill pipe section is encountered, the independent reducing driving unit 2 can increase the thrust of the electric reducing rod 26, increase the positive pressure of the driving wheel 21 on the inner wall of the pipe, and achieve the purpose of enhancing the climbing force. The main control circuit board 42 inside the main controller 4 of the crawler is communicated with the external wireless communication antenna 44, so that the main controller can communicate with ground workers outside the pipeline in real time, and the workers can check the working operation state of the self-crawling detection instrument. When the self-crawling detection instrument detects a fault problem, the parallelogram structure of the detection sensor module 32 is utilized, so that the detection sensor module 32 can compress and rebound in the radial direction of the pipeline, and the second connecting rod 36 is hinged with the pull rod 39 through the fourth shaft 38. The pull rod 39 penetrates the base 37 and is sleeved with the spring 311 and the nut 300, so that the probe module 33 can be ensured to be in contact with the inner wall of the pipeline. The acquisition sensor in the probe module 33 can acquire data information of corrosion, cracks, holes and the like inside and outside the metal pipeline in real time. And the attitude, pipeline center line information and video images recorded by the IMU inertial navigator can be stored by the data memory in the multifunctional data acquisition unit 5, so that support is provided for later data processing.
Other embodiments of the present invention will readily suggest themselves after the present invention is disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (10)
1. The utility model provides a long oil pipeline is from crawling detecting instrument which characterized in that includes: the crawler frame comprises a crawler frame base body (1), an independent reducing driving unit (2), an intelligent sensing pipeline detection unit (3), a crawler main controller (4) and a multifunctional data acquisition unit (5);
the creeper frame base body (1) comprises a first frame (17) and a second frame (18) which are opposite, and the first frame (17) and the second frame (18) are connected through a plurality of main beams (11) which are arranged in parallel;
two ends of each main beam (11) are respectively provided with a reducing mechanism connecting support lug (13), a support arm support lug (12) and a detection ring support lug (19) are sequentially arranged between the reducing mechanism connecting support lug (13) and the center position of the main beam (11), and two support arm support lugs (12) are symmetrically arranged on each main beam (11);
a first end cover (15) is arranged outside the first frame (17), a second end cover (16) is arranged outside the second frame (18), the first end cover (15) is fixedly connected with the first frame (17) through a screw, and the second end cover (16) is fixedly connected with the second frame (18) through a screw;
the independent reducing driving unit (2) comprises an electric reducing rod (26), and one end of the electric reducing rod (26) is hinged with the reducing mechanism connecting lug (13) through a connecting shaft (27);
the intelligent sensing pipeline detection unit (3) comprises a metal ring (31) and a detection sensor module (32), the detection sensor module (32) is fixedly connected with the metal ring (31) through a bolt, the metal ring (31) is arranged outside the creeper frame base body (1), and the metal ring (31) is fixedly connected with the detection ring support lug (19) through a bolt;
the crawler main controller (4) is fixed on the first end cover (15) through bolts, a main control circuit board (42) is arranged in the crawler main controller, and the main control circuit board (42) is electrically connected with the electric reducing rod (26) and the detection sensor module (32);
the multifunctional data collector (5) is fixed on the second end cover (16) through bolts.
2. The long oil pipeline self-crawling detection instrument according to claim 1, characterized in that said crawler frame base (1) further comprises a skin (14);
the distance between the main beam (11) and the first frame (17) and between the main beam and the second frame (18) is provided with the skin (14), and the skin (14) is fixedly connected with the edges of the main beam (11), the first frame (17) and the second frame (18).
3. The self-crawling detection instrument for long oil pipelines according to claim 1, wherein said independent variable diameter drive unit (2) further comprises a support arm (24);
one end of the support arm (24) is provided with a wheel shaft (22), the other end of the support arm is provided with a support arm support lug connecting shaft (25), the upper end of the wheel shaft (22) is connected with a driving wheel (21) internally provided with a driving motor, and the support arm support lug connecting shaft (25) is hinged with the support arm support lug (12);
support arm connecting shaft (23) is arranged in the middle of the support arm (24), and the support arm connecting shaft (23) is hinged to the other end of the electric reducing rod (26).
4. The long oil pipeline self-crawling detection instrument according to claim 1, characterized in that the detection sensor module (32) is a cube with a parallelogram cross section, and comprises a probe module (33), a first link (35), a second link (36) and a base (37);
the four corners of the probe module (33) are respectively provided with a roller (34), a first shaft (344) and a second shaft (333) are arranged on the probe module (33) in parallel, one end of the first connecting rod (35) is connected with the probe module (33) through the first shaft (344), and one end of the second connecting rod (36) is connected with the probe module (33) through the second shaft (333);
the base (37) is of an L-shaped structure, a third shaft (322) is arranged at the corner position of the base (37), and the other end of the first connecting rod (35) is connected with the base (37) through the third shaft (322);
one of base (37) minor face is served and is equipped with pull rod (39), suit spring (311) is gone up in pull rod (39), spring (311) top is equipped with nut (300), nut (300) with pull rod (39) one end threaded connection, the other end of pull rod (39) passes base (37), the other end of pull rod (39) pass through fourth shaft (38) with the other end swivelling joint of second connecting rod (36).
5. The self-crawling detection instrument for the long oil transportation pipeline according to claim 1, wherein two detection ring support lugs (19) are symmetrically arranged on each main beam (11), and two intelligent sensing pipeline detection units (3) are arranged.
6. The self-crawling detection instrument for the long oil transportation pipeline as claimed in claim 1, wherein the number of the detection sensor modules (32) on the intelligent sensing pipeline detection unit (3) is greater than or equal to two.
7. The self-crawling detection instrument for the long oil pipeline according to claim 1, wherein the reducing mechanism connecting support lug (13), the support arm support lug (12), the detection ring support lug (19) and the main beam (11) are fixedly connected through bolts.
8. The self-crawling detection instrument for the long oil pipeline according to claim 1, wherein the crawler main controller (4) comprises a cabin body (41), a main control circuit board (42) is arranged inside the cabin body (41), a cabin cover (43) is arranged outside the cabin body (41), the cabin cover (43) is hermetically connected with the cabin body (41) through bolts, a communication antenna (44) is arranged on an end face of the cabin cover (43), and the communication antenna (44) is electrically connected with the main control circuit board (42).
9. The self-crawling detection instrument for long oil pipelines according to claim 4, characterized in that said probe module (33) is internally provided with a magnetic sensor.
10. The self-crawling detection instrument for the long oil transportation pipeline according to claim 1, wherein the multifunctional data collector (5) is integrated with an image collection system, a video image analysis processing system, an IMU inertial navigator and a data memory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210447538.1A CN114542847B (en) | 2022-04-27 | 2022-04-27 | Self-creeping detection instrument for long oil and gas pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210447538.1A CN114542847B (en) | 2022-04-27 | 2022-04-27 | Self-creeping detection instrument for long oil and gas pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114542847A true CN114542847A (en) | 2022-05-27 |
| CN114542847B CN114542847B (en) | 2022-08-19 |
Family
ID=81667311
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210447538.1A Active CN114542847B (en) | 2022-04-27 | 2022-04-27 | Self-creeping detection instrument for long oil and gas pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114542847B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114772273A (en) * | 2022-06-22 | 2022-07-22 | 国机传感科技有限公司 | Detector conveying system with state sensing function |
| CN115055459A (en) * | 2022-06-15 | 2022-09-16 | 国机传感科技有限公司 | Novel difunctional pipeline cleaner |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103644427A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Pipeline robot walking device capable of being automatically adapted to diameters |
| CN106704766A (en) * | 2017-01-23 | 2017-05-24 | 西安石油大学 | In-pipe crawling device capable of conducting automatic righting |
| CN206191162U (en) * | 2016-11-09 | 2017-05-24 | 田雨 | Pipeline robot |
| CN211603037U (en) * | 2019-11-29 | 2020-09-29 | 南京林业大学 | Metal pipeline inner wall eddy current testing signal acquisition device with storage function |
| CN212273422U (en) * | 2020-02-26 | 2021-01-01 | 中国石油天然气集团有限公司 | Supporting device of pipeline detection equipment and pipeline detection equipment |
| CN215674260U (en) * | 2021-09-17 | 2022-01-28 | 昆明理工大学 | Eddy current detection device for oil gas pipeline robot |
| CN114151650A (en) * | 2021-12-17 | 2022-03-08 | 西安石油大学 | Pipeline inspection robot and control method |
-
2022
- 2022-04-27 CN CN202210447538.1A patent/CN114542847B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103644427A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Pipeline robot walking device capable of being automatically adapted to diameters |
| CN206191162U (en) * | 2016-11-09 | 2017-05-24 | 田雨 | Pipeline robot |
| CN106704766A (en) * | 2017-01-23 | 2017-05-24 | 西安石油大学 | In-pipe crawling device capable of conducting automatic righting |
| CN211603037U (en) * | 2019-11-29 | 2020-09-29 | 南京林业大学 | Metal pipeline inner wall eddy current testing signal acquisition device with storage function |
| CN212273422U (en) * | 2020-02-26 | 2021-01-01 | 中国石油天然气集团有限公司 | Supporting device of pipeline detection equipment and pipeline detection equipment |
| CN215674260U (en) * | 2021-09-17 | 2022-01-28 | 昆明理工大学 | Eddy current detection device for oil gas pipeline robot |
| CN114151650A (en) * | 2021-12-17 | 2022-03-08 | 西安石油大学 | Pipeline inspection robot and control method |
Non-Patent Citations (3)
| Title |
|---|
| 中国测绘地理信息学会: "《测绘科学技术学科发展报告》", 31 March 2018 * |
| 冯建雨: "《机械设计基础》", 31 August 2020 * |
| 马孝春: "《地下管道非开挖修复技术》", 30 November 2009 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115055459A (en) * | 2022-06-15 | 2022-09-16 | 国机传感科技有限公司 | Novel difunctional pipeline cleaner |
| CN114772273A (en) * | 2022-06-22 | 2022-07-22 | 国机传感科技有限公司 | Detector conveying system with state sensing function |
| WO2022253363A3 (en) * | 2022-06-22 | 2023-09-21 | 国机传感科技有限公司 | Detector conveying system having state sensing function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114542847B (en) | 2022-08-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114542847B (en) | Self-creeping detection instrument for long oil and gas pipeline | |
| CN106192634A (en) | A kind of railroad track elastic bar fastener condition automatic detection device and method | |
| CN110159869B (en) | Pipeline detection robot and multi-sensor fusion detection method thereof | |
| CN203283258U (en) | Integrated running train security monitoring system | |
| CN210233046U (en) | Rail mounted utility tunnel patrols and examines robot and system | |
| CN201638053U (en) | Polling robot | |
| JP3647871B2 (en) | A mobile tracking device capable of detecting fault conditions on wheels and tracks of railway vehicles | |
| CN206034212U (en) | Railway rails elastic tensioning clamp state automatic checkout device | |
| CN102385389B (en) | Patrol robot, early warning system and monitoring method of patrol robot | |
| CN206411021U (en) | Natural gas leakage detection robot system based on graphical analysis | |
| CN106275115A (en) | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof | |
| CN106568441A (en) | Beidou-based electric power patrol inspection device | |
| CN105856235B (en) | A kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear | |
| CN104864873B (en) | A kind of method that utilization human body motion feature aids in Orientation on map | |
| CN110245734A (en) | Tunnel structure disease recognition System and method for based on rail mounted crusing robot | |
| CN109591907A (en) | A kind of bridge pier detection walking mechanism and traveling method | |
| CN101986114B (en) | Photoelectric detection system and method for transmission lines | |
| CN205068089U (en) | Rail mounted is patrolled and examined system for transformer substation | |
| CN108007504A (en) | A kind of vehicle-mounted mobile transformer transporting quality on-line monitoring device and method | |
| CN207570599U (en) | A kind of vehicle-mounted mobile transformer transporting quality on-line monitoring device | |
| CN108803598A (en) | A kind of polar region multiple robots operating system and Synergistic method | |
| CN206717834U (en) | Robot device uses walking buffer gear | |
| CN203084552U (en) | Reconnaissance robot based on wireless communication | |
| CN114707576B (en) | Railway contact line state detection system based on digital twinning | |
| CN209492628U (en) | Walking mechanism is used in a kind of detection of bridge pier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |