CN115055456A

CN115055456A - Oil pipeline cleaning robot and oil pipeline cleaning method

Info

Publication number: CN115055456A
Application number: CN202210635333.6A
Authority: CN
Inventors: 燕冰川; 郑健峰; 贾光明; 李睿; 富宽; 王禹钦; 康叶伟; 陈朋超; 王洪涛
Original assignee: China Oil and Gas Pipeline Network Corp; National Pipe Network Group North Pipeline Co Ltd
Current assignee: China Oil and Gas Pipeline Network Corp; National Pipe Network Group North Pipeline Co Ltd
Priority date: 2022-06-06
Filing date: 2022-06-06
Publication date: 2022-09-16

Abstract

The invention belongs to the technical field of oil pipelines, and particularly relates to an oil pipeline cleaning robot and an oil pipeline cleaning method. This oil pipeline cleaning robot includes: the robot framework is provided with a walking mechanism, and the tail part of the robot framework is provided with an impurity cleaning device; the geometric detection unit is arranged at the front part of the robot framework and used for providing detected data of the section area of the pipeline; the controller is arranged on the robot framework, is respectively and electrically connected with the travelling mechanism, the impurity cleaning device and the geometric detection unit, and is provided with an area preset value; and the power supply is arranged on the robot framework. The invention can judge whether the detected pipeline needs to supply power to the cleaning device or not through the detection data of the geometric detection unit, thereby stopping supplying power to the pipeline when the pipeline is not needed, saving energy and prolonging the running mileage of the robot.

Description

Oil pipeline cleaning robot and oil pipeline cleaning method

Technical Field

The invention belongs to the technical field of oil pipelines, and particularly relates to an oil pipeline cleaning robot and an oil pipeline cleaning method.

Background

After long distance oil pipeline operation exceeded certain years, can have serious corruption, welding seam fracture scheduling problem usually, and then lead to oil leakage scheduling risk, consequently, to the not good and difficult prosthetic pipeline of body condition, need in time stop defeatedly and scrap. Oil pipelines carry out oil product transportation for a long time in the operation period, and a large amount of impurities including wax deposition layers, solid crude oil, metal residues and the like can be accumulated on the inner walls of the pipelines. After the pipeline stops transportation, the impurities are further solidified on the pipe wall after standing for a long time, and if the impurities are not cleaned in time, the risks of environmental pollution, even fire explosion and the like can be caused under external interference. Therefore, the abandoned oil pipeline which is stopped to be transported needs to be cleaned with impurities timely and effectively.

Currently, oil pipelines are cleaned mainly by methods of sending pigs and the like, and the methods have obvious defects. On the one hand, the blocking risk of the pipe cleaner is high, the pipe cleaner with high cleaning capacity has large interference magnitude and strong adsorption force on the pipe wall, and blocking easily occurs when the structure is seriously worn or meets large pipeline deformation. On the other hand, the cleaning capability is not thorough enough, and even a magnetic pipe cleaner is difficult to thoroughly clean the solid oil stain attached to the surface of the pipe wall.

The related art documents and patents indicate that a pipe robot having an autonomous operation capability and carrying a cleaning device for impurities can be used to clean the stubborn attachments on the wall surface. When the pipeline robot cleans in the pipeline, enough energy needs to be provided to realize the driving of the pipeline robot and the operation of the cleaning device, and the actual working power consumption is higher. The pipeline robot adopting the towline type external power supply is influenced by the length of a cable and the effective communication distance, the theoretical running distance is short and generally does not exceed 3 kilometers, and therefore the towline type external power supply is not suitable for cleaning operation of long-distance pipelines. The pipeline cleaning robot adopting mobile energy sources (usually, storage batteries) such as the storage batteries has no cable influence, and the running mileage can reach dozens of kilometers under the states of pure cruising and no cleaning operation; however, when the cleaning device is started, the energy consumption is greatly increased, and the endurance mileage is seriously reduced.

Therefore, the pipeline robot needs to evaluate the content of impurities in the pipeline in real time during operation so as to automatically open or close the cleaning device, prolong the operation distance of the robot as far as possible, reduce the midway opening of the pipeline and reduce the cleaning cost.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides an oil pipeline cleaning robot and an oil pipeline cleaning method. The technical scheme of the invention has the advantages of high reliability and strong cleaning capability.

The technical scheme provided by the invention is as follows:

an oil pipeline cleaning robot, comprising:

the robot framework is provided with a walking mechanism, and the tail part of the robot framework is provided with an impurity cleaning device;

the geometric detection unit is arranged at the front part of the robot framework and is used for providing detected data of the section area of the pipeline;

the controller is arranged on the robot framework, is respectively and electrically connected with the walking mechanism, the impurity cleaning device and the geometric detection unit, is provided with an area preset value, and is used for comparing the area preset value with the acquired data of the area of the section of the pipeline so as to control the impurity cleaning device to be opened or closed;

and the power supply is arranged on the robot framework.

Based on above-mentioned technical scheme, the detection data of accessible geometry detecting element, judge whether the pipeline that detects need supply power to belt cleaning device to can stop to its power supply when not needing, thereby the energy saving, the operation mileage of extension robot.

Specifically, the impurity cleaning device includes:

the cleaning device framework is provided with a leather cup at the front end and/or the rear end;

and a plurality of steel brushes fixedly arranged around the circumference of the cleaning device framework.

Based on the technical scheme, the inner wall of the pipeline can be effectively cleaned.

Furthermore, the tail part of the cleaning device framework is also provided with a rotating blade, and the cleaning device framework is provided with a motor for driving the rotating blade to rotate, and the motor is electrically connected with the controller.

Based on above-mentioned technical scheme, can further reinforcing clear up the pipeline inner wall. And, the rotary blade can be opened or closed as required, so that energy can be saved.

Further, still be provided with the electricity on the robot skeleton the controller with the power management module of power is used for to the controller provides the residual capacity, and correspondingly, the controller is provided with safe electric quantity value.

Based on the technical scheme, the remaining sustainable operation mileage can be estimated according to the remaining pipeline mileage and the electric quantity, and when the remaining operable mileage is close to the remaining pipeline mileage, the cleaning device is not started any more, so that the robot cannot exit the pipeline.

Specifically, the running mechanism is a wheel type running mechanism or a crawler type running mechanism.

The invention also provides a method for cleaning the oil pipeline, which comprises the following steps:

1) performing primary pipe cleaning on the pipeline;

2) carrying out passing verification on the pipeline;

3) the oil pipeline cleaning robot provided by the invention is used for cleaning attachments;

4) cleaning the pipeline by adopting a magnetic pipe cleaner;

5) and (5) performing the last pipe cleaning on the pipeline.

Based on the technical scheme, the preliminary diameter measurement is carried out before the pipe cleaning, so that the large deformation of the pipeline can be effectively eliminated, the blocking risk of the pipe cleaner introduced from the large deformation can be avoided, the reliability of the pipeline cleaning operation is improved, and the application range is expanded; use a plurality of scavenge pipes and attachment clearance flow, not only can clear up remaining free impurity in the pipeline, can effectively clear up adnexed solid-state impurity on the pipe wall moreover, improved the abluent effect of pipeline.

Further, in step 3): and the controller compares the preset area value with the detected data of the section area of the pipeline, and when the detected data of the section area of the pipeline is larger than the preset area value, the controller stops supplying power to the impurity cleaning device, or when the detected data of the section area of the pipeline is smaller than or equal to the preset area value, the controller controls to supply power to the impurity cleaning device. The area preset value can be determined according to the allowable range of diameter deformation. It is recommended that the deformation of the diameter is less than or equal to 2%. Correspondingly, the ratio of the preset area value to the normal pipeline section is greater than or equal to 96% and less than 100%.

Based on above-mentioned technical scheme, through the geometry detecting element that the robot carried, judge the content of pipeline inner wall adhering to impurity in real time to automatically, the energy saving prolongs the robot and moves the mileage, and then reduces pipeline cleaning's cost.

Further, in step 3): the robot framework is provided with a power management module which is electrically connected with the controller and the power supply, the controller compares the residual electric quantity value with the safe electric quantity value, and when the residual electric quantity is equal to the safe electric quantity value, the controller stops supplying power to the impurity cleaning device. The way may be as follows.

The electric quantity loss of the pipeline robot can be divided into two parts, namely power loss and cleaning loss;

the total electric quantity of the robot is recorded as A;

the power consumption is recorded as m when the robot runs for 1 kilometer;

cleaning for 1 hour, and recording the electric quantity loss as n;

the pipeline length L, the current running mileage x, the accumulated cleaning time t (accurate to 0.1), and the remaining mileage y;

then the current consumption electric quantity B ═ x × m + n × t;

the residual electric quantity C estimated by the robot controller is A-B;

the safe electric quantity for ensuring that the robot can finish the operation of the remaining mileage is S ═ y × m × e;

wherein e is a safety factor and can be 1.1-1.5;

the remaining capacity estimated by the battery power management system of the robot is denoted as F.

When min { C, F } ═ S, namely when the remaining capacity equals the safe electric quantity value, the power of the cleaning device is thoroughly cut off, and the cleaning device is not started any more in the operation, so that the robot can complete the operation of the remaining mileage.

Based on the technical scheme, the remaining sustainable operation mileage is estimated according to the remaining pipeline mileage and the electric quantity, and when the remaining operable mileage is close to the remaining pipeline mileage, the cleaning device is not started any more, so that the robot cannot exit the pipeline.

Specifically, in the step 1):

cleaning the pipeline by using a foam pipe cleaner;

or, a straight plate pig is used for cleaning the pipeline;

or, a foam pipe cleaner and a straight plate pipe cleaner are used for cleaning the pipeline in sequence;

and when the content of the impurities cleaned in one time is less than or equal to 5kg, performing the step 2).

Specifically, in the step 2): sending a pig with an aluminium gage plate in the pipe, verifying the passability of the pipe to be cleaned, wherein:

the deformation value of the caliper is less than or equal to an allowable value, and the step 3) is carried out;

and if the deformation value of the diameter measuring plate is greater than the allowable value, excavating and breaking the pipe at the position beyond the standard deformation to reset the pipeline opening, and sending a pipe cleaner with an aluminum diameter measuring plate in the pipeline to verify the passability of the pipeline to be cleaned.

Among these, the allowable value may be determined according to the deformability of various kinds of cleaning pigs and robots used in the cleaning process, and a value of 10 to 15% of the diameter of the pipe is recommended. The pipeline containing the overproof deformation points is operated by the intelligent diameter measuring detector, and the overproof deformation points can be positioned, so that the deformation part is excavated, the pipeline is disconnected, and a new pipeline opening is formed.

Specifically, in the step 5): and (5) performing the last tube cleaning by adopting a straight plate tube cleaner.

Specifically, the oil pipeline is a scrapped oil pipeline.

Generally, the technical scheme provided by the invention has the advantages of high reliability, expanded application range and good pipeline cleaning effect, and the on-off of the cleaning device can be controlled by judging the amount of attachments on the pipe wall, so that the energy is saved, the running mileage of the robot can be prolonged, and the pipeline cleaning cost is further reduced. The pipeline can be smoothly withdrawn through calculation of self accumulated electric quantity loss, and the risk of midway stagnation caused by inaccurate estimation of the residual electric quantity of the battery is avoided.

Drawings

Fig. 1 is a schematic view of the overall structure of an oil pipeline cleaning robot provided by the present invention.

Fig. 2 is a schematic structural view of a foreign matter cleaning apparatus part of an oil pipeline cleaning robot provided by the present invention.

FIG. 3 is a flow chart of the oil pipeline cleaning method provided by the present invention

In fig. 1 and 2, the structures represented by the reference numerals are listed as follows:

1. the robot comprises a robot framework, 2 a walking mechanism, 3 an impurity cleaning device, 4 a geometric detection unit, 5 a controller, 6 a power supply, 7 a cleaning device framework, 8 a leather cup, 9 a steel brush, 10 a rotating blade.

Detailed Description

The principles and features of this invention are described below in conjunction with examples which are set forth to illustrate, but are not to be construed to limit the scope of the invention.

In one embodiment, as shown in fig. 1, an oil pipeline cleaning robot includes: the robot comprises a robot framework 1, a robot body and a robot body, wherein the robot framework 1 is provided with a walking mechanism 2, and the tail part of the robot framework is provided with an impurity cleaning device 3; the geometric detection unit 4 is arranged at the front part of the robot framework 1 and is used for providing detected data of the section area of the pipeline; the controller 5 is arranged on the robot framework 1, is respectively and electrically connected with the travelling mechanism 2, the impurity cleaning device 3 and the geometric detection unit 4, is provided with an area preset value, and is used for comparing the area preset value with the acquired pipeline section area data so as to control the impurity cleaning device 3 to be opened or closed; and a power supply 6 provided on the robot skeleton 1. Based on the technical scheme, whether the detected pipeline needs to supply power to the cleaning device or not can be judged through the detection data of the geometric detection unit 4, so that the power supply to the pipeline can be stopped when the pipeline is not needed, the energy is saved, and the running mileage of the robot is prolonged.

In one embodiment, as shown in fig. 2, the foreign substance cleaning apparatus 3 includes: a cleaning device framework 7, wherein the front end and the rear end of the cleaning device framework are provided with leather cups 8; and a plurality of steel brushes 9 fixedly arranged around the circumference of the cleaning device framework 7. The device has compact structure and is suitable for being used as an impurity cleaning device 3 in a pipeline.

In one embodiment, as shown in fig. 2, the cleaning device framework 7 is further provided with a rotating blade 10 at the tail part, and a motor for driving the rotating blade 10 to rotate is arranged on the cleaning device framework 7 and is electrically connected with the controller 5. The rotating blades 10 enhance cleaning of the inner wall of the pipe. Also, the rotary blade 10 can be opened or closed as needed, so that energy can be saved.

In one embodiment, a power supply 6 management module electrically connected to the controller 5 and the power supply 6 is further disposed on the robot skeleton 1, and configured to provide the remaining power to the controller 5, and correspondingly, the controller 5 is provided with a safety power value. Based on the technical scheme, the remaining sustainable operation mileage can be estimated according to the remaining pipeline mileage and the electric quantity, and when the remaining operable mileage is close to the remaining pipeline mileage, the cleaning device is not started, so that the robot cannot exit the pipeline.

Example 1

1) The abandoned pipeline is an oil pipeline, the length of the abandoned pipeline is not more than 30 kilometers, openings are reserved at two ends of the abandoned pipeline, and a pipe cleaner receiving and dispatching device can be installed; and the operation of various pipe cleaners is realized by using an external air compressor to pressurize as a power source.

2) As shown in fig. 3, the main process of the method for cleaning a scrapped pipe includes: primary cleaning, passing verification, attachment cleaning, magnetic pipe cleaner cleaning, final cleaning and the like.

3) The primary pigging can use foam pig or straight plate pig, or the sequential pigging of the two. The cleaning of the foam pipe cleaner is optional, and for the pipeline with long stopping time and unknown internal condition, the foam pipe cleaner can be used for primarily cleaning the pipeline, and the main purpose is to clean larger impurities in the pipeline; use the straight plate pig to carry out preliminary clearance to the pipeline, free impurity in the main objective lies in the clearance pipeline, and the impurity content of once clearance out is no longer than 5kg, can carry on next step.

4) And (4) verifying the passability of the pipeline to be cleaned by sending a pipeline cleaner with an aluminum diameter measuring plate in the pipeline. The deformation of the diameter measuring plate is not more than 10% of the outer diameter of the pipeline, and the next step can be carried out; when the deformation exceeds 10%, the pipe needs to be excavated and broken at the over-standard deformation position, a pipeline opening needs to be arranged, and then the process of passing verification needs to be repeatedly carried out. The main purpose of the passing verification is to ascertain conditions for the operation of the pipeline robot, optionally combined with the primary pigging.

5) The pipeline robot is used for cleaning attachments, and in the operation process of the pipeline robot, the impurity cleaning device can be supported on the pipe wall for operation, so that residual solid crude oil and the like attached to the pipe wall are cleaned and separated from the pipe wall;

through the geometry detecting unit 4 that the robot carried, judge the content of pipeline inner wall attached impurity in real time to automatically, open or close belt cleaning device, the energy saving prolongs the robot and moves the mileage, and then reduces pipeline cleaning's cost.

6) Magnetic force dredging pipe ware dredging pipe, finger pipeline robot develop the attachment clearance operation after, use the dredging pipe ware that has the magnetization just brush, clear up the impurity in the pipeline, adsorb magnetic impurity simultaneously, release to the pipeline outside in the lump.

7) Optionally, according to the impurity content that magnetic force pig cleared out, the last pigging of whether going on straight board pig again can be decided to the circumstances, thoroughly clears out impurity.

Example 2

4) And (4) verifying the passability of the pipeline to be cleaned by sending a pipeline cleaner with an aluminum diameter measuring plate in the pipeline. The deformation of the diameter measuring plate is not more than 10% of the outer diameter of the pipeline, and the next step can be carried out; when the deformation exceeds 10%, the pipe needs to be excavated and broken at the superscript deformation position, a pipeline opening needs to be arranged, and then the process of passing verification needs to be repeatedly carried out. The main purpose of the passing verification is to ascertain conditions for the operation of the pipeline robot, optionally combined with the primary pigging.

the content of impurities attached to the inner wall of the pipeline is judged in real time through a geometric detection unit 4 carried by the robot, so that the cleaning device is automatically opened or closed, energy is saved, the running mileage of the robot is prolonged, and the cost of pipeline cleaning is further reduced;

and estimating the remaining sustainable operation mileage according to the remaining pipeline mileage and the electric quantity, and when the remaining operable mileage is close to the remaining pipeline mileage, not starting the cleaning device so as to prevent the robot from being incapable of exiting the pipeline.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An oil pipeline cleaning robot, characterized by comprising:

the robot comprises a robot framework (1) which is provided with a walking mechanism (2), and the tail part of the robot framework is provided with an impurity cleaning device (3);

the geometric detection unit (4) is arranged at the front part of the robot framework (1) and is used for providing detected pipeline section area data;

the controller (5) is arranged on the robot framework (1), is respectively and electrically connected with the travelling mechanism (2), the impurity cleaning device (3) and the geometric detection unit (4), and is provided with an area preset value for comparing the area preset value with the acquired pipeline section area data so as to control the impurity cleaning device (3) to be opened or closed;

and a power supply (6) arranged on the robot skeleton (1).

2. Oil pipeline cleaning robot according to claim 1, characterized in that the impurity cleaning device (3) comprises:

the cleaning device comprises a cleaning device framework (7), wherein a leather cup (8) is arranged at the front end and/or the rear end of the cleaning device framework;

and a plurality of steel brushes (9) fixedly arranged around the circumference of the cleaning device framework (7).

3. Oil pipeline cleaning robot according to claim 2, characterized in that: the tail of the cleaning device framework (7) is further provided with a rotating blade (10), the cleaning device framework (7) is provided with a motor for driving the rotating blade (10) to rotate, and the motor is electrically connected with the controller (5).

4. An oil pipeline cleaning robot according to any one of claims 1 to 3, characterized in that: still be provided with the electricity on robot skeleton (1) and connect controller (5) with the power management module of power (6) is used for to controller (5) provide the residual electric quantity value, correspond, controller (5) are provided with safe electric quantity value.

5. A method for cleaning an oil pipeline is characterized by comprising the following steps:

1) performing primary pipe cleaning on the pipeline;

2) carrying out passing verification on the pipeline;

3) cleaning attachments by using the oil pipeline cleaning robot of any one of claims 1 to 4;

4) cleaning the pipeline by adopting a magnetic pipe cleaner;

5) and (5) performing the last pipe cleaning on the pipeline.

6. The oil pipeline cleaning method according to claim 5, wherein in step 3): the controller (5) compares the preset area value with the detected data of the section area of the pipeline, and when the detected data of the section area of the pipeline is larger than the preset area value, the controller stops supplying power to the impurity cleaning device (3), or when the detected data of the section area of the pipeline is smaller than or equal to the preset area value, the controller controls supplying power to the impurity cleaning device (3).

7. The oil pipeline cleaning method according to claim 6, characterized in that: the robot comprises a robot framework (1), and is characterized in that a power management module electrically connected with a controller (5) and a power supply (6) is arranged on the robot framework (1), the controller (5) compares a residual electric quantity value with a safe electric quantity value, and when the residual electric quantity value is equal to the safe electric quantity value, the controller stops supplying power to the impurity cleaning device (3).

8. The oil pipeline cleaning method according to claim 5, wherein in step 1):

cleaning the pipeline by using a foam pipe cleaner;

or, a straight plate pig is used for cleaning the pipeline;

9. The oil pipeline cleaning method according to claim 5, wherein in step 2): sending a pig with an aluminium gage plate in the pipe, verifying the passability of the pipe to be cleaned, wherein:

10. A method for cleaning an oil pipeline according to any of claims 5 to 9, characterized in that in step 5): and (5) performing the last tube cleaning by adopting a straight plate tube cleaner.