CN116718795A - Pipeline pig speed measurement system based on friction nano power generation - Google Patents
Pipeline pig speed measurement system based on friction nano power generation Download PDFInfo
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- CN116718795A CN116718795A CN202310634500.XA CN202310634500A CN116718795A CN 116718795 A CN116718795 A CN 116718795A CN 202310634500 A CN202310634500 A CN 202310634500A CN 116718795 A CN116718795 A CN 116718795A
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- 238000010248 power generation Methods 0.000 title claims abstract description 50
- 238000005259 measurement Methods 0.000 title claims abstract description 23
- 239000012530 fluid Substances 0.000 claims abstract description 54
- 238000004364 calculation method Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052802 copper Inorganic materials 0.000 claims description 9
- 239000010949 copper Substances 0.000 claims description 9
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 9
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- -1 Polytetrafluoroethylene Polymers 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/08—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring variation of an electric variable directly affected by the flow, e.g. by using dynamo-electric effect
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N1/00—Electrostatic generators or motors using a solid moving electrostatic charge carrier
- H02N1/04—Friction generators
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Abstract
The invention provides a friction nano power generation-based pipeline pig speed measurement system, which comprises: friction nanometer power generation facility, speed calculation unit, speed control unit, pipeline pig robot, wherein: the friction nano power generation device is assembled at the tail part in the pipeline pig robot body and used for ensuring that fluid can not be shielded by an object, so that the fluid is directly contacted with the friction nano power generation device; the device is provided with the impeller, the impeller surface is opposite to the fluid transmission direction and the robot movement direction, and when fluid passes through the impeller, the impeller is driven to rotate. As the impeller rotates, the kinetic energy of the fluid is converted into mechanical energy that rotates the impeller. The rotation of the impeller is utilized to drive different dielectric films to rub, so that the friction electrification is realized, and the connection between the speed and the electric signal is realized. The speed calculation unit is used for calculating the speed of the pipeline pig robot in real time; the speed control unit is used for controlling the speed according to a preset speed interval after acquiring the speed of the pipeline pig robot calculated in real time by the speed calculation unit.
Description
Technical Field
The invention relates to the technical field of speed measurement of pipeline pig robots, in particular to a pipeline pig speed measurement system based on friction nano power generation.
Background
Over time, infrastructure ages and pipelines such as oil and gas are also at risk of erosion. When a pipeline is in a problem, serious accidents such as leakage and the like are often accompanied, shutdown and production stoppage are caused, and serious economic loss is faced, and even life, health and safety of staff can be endangered. In order to cope with the risk detection problem in the pipeline, pipeline pig robots are designed and produced.
The pipeline pig robot takes the pressure difference between the front and the back in the pipeline as the drive, saves energy, and performs detection work without affecting the normal work of the pipeline, thereby realizing nondestructive detection. The movement of the pipeline pig robot is also unstable due to the unstable pressure of the fluid in the pipeline. If the speed of the pipeline robot is not stable enough, its pigging and detection functions will be difficult to achieve. For speed control of the robot, it is first necessary to accurately measure the speed of the robot. And (5) properly adjusting according to whether the speed of the robot is within a range required by work.
Existing pipeline pig robots typically use a tail odometer to measure speed. The odometer is generally wheel-shaped, the moving distance is obtained by recording the number of turns of the wheel rolling, meanwhile, the moving time is recorded, and the speed is calculated by the ratio of the distance to the time. Such a speed measuring method is widely used, however, there is an error in the odometer, for example, deviation occurs in the recorded distance of the wheel passing through the welding line of the pipeline, and the deviation is accumulated with the increase of the distance, so that the pipeline robot is required to have a speed measuring method capable of reducing the error.
With the continuous consumption of fossil energy, the energy problem in the society is increasingly serious, and the renewable energy sources such as solar energy, tidal energy and the like are more important to the utilization of sustainable energy. In addition to these energies, mechanical energy in nature is still substantial and not utilized by humans. With the continuous progress of research on micro-electronic devices and micro-electromechanical systems, human collection of triboelectricity is possible, and a tribonano-generator is invented.
With the popularization of networks, the Internet of things is rapidly developed, and the technological revolution and the industrial revolution of a new wave are raised. Wearable electronics and sensing devices in life emerge, and these devices inevitably consume some energy. The miniature electronic device is combined with the friction nano power generation principle, a self-driven system is established, the friction nano power generation really has an applied foothold, and a batch of sensing devices for friction nano power generation are generated, so that a speed measuring device based on the friction nano power generation principle is included.
Disclosure of Invention
According to the technical problem, the pipeline pig speed measurement system based on friction nano power generation is provided. The invention improves the speed measurement aspect of the pipeline pig robot, and perfects the speed measurement system of the pipeline pig robot by utilizing the friction electrification principle. Because pipeline pig robot is mostly used for clearing up the pipeline or detecting pipeline defect, realize these functions and need carry out comparatively accurate control to the speed, and speed control's prerequisite can carry out comparatively accurate measurement to the speed.
The invention adopts the following technical means:
pipeline pig speed measurement system based on friction nanometer electricity generation includes: friction nanometer power generation facility, speed calculation unit, speed control unit and pipeline pig robot, wherein:
the pipeline pig robot is cylindrical as a whole;
the friction nano power generation device is assembled at the tail part in the pipeline pig robot body and is used for ensuring that fluid can not be shielded by an object, so that the fluid is directly contacted with the friction nano power generation device;
the speed calculation unit is used for calculating the speed of the pipeline pig robot in real time;
and the speed control unit is used for controlling the speed according to a preset speed interval after acquiring the speed of the pipeline pig robot calculated in real time by the speed calculation unit.
Further, the friction nano power generation device comprises an impeller, a rotating shaft, a first friction plate, a first dielectric film, a second friction plate and an assembly ring; wherein:
the impeller, the rotating shaft, the first friction plate and the first dielectric film are fixed into a whole, the first dielectric film is tightly attached to the outer wall of the first friction plate, and the rotating shaft, the first friction plate and the first dielectric film can be driven to rotate by the rotation of the impeller;
the second dielectric film, the second friction plate and the assembly ring are fixed into a whole, and meanwhile, the assembly ring is fixed with the connecting ring through bolts, and the connecting ring is integrated with the outer wall of the robot; the second dielectric film is tightly attached to the inner wall of the second friction plate;
the impeller surface is opposite to the fluid transmission direction and the robot movement direction, so that when fluid passes through the impeller, the impeller can be driven to rotate, and when the impeller rotates, the kinetic energy of the fluid is converted into mechanical energy for rotating the impeller, and different dielectric films are driven to rub by utilizing the rotation of the impeller, so that electrification by friction is realized, and the connection between the speed and an electric signal is realized.
Further, the first dielectric film is a 90-degree arc film, and the adopted material comprises polytetrafluoroethylene PTFE material; the second dielectric film is two arc films with 90 degrees, and the adopted materials comprise copper films; the copper film is easy to lose electrons, and the copper film can be used as a metal electrode because of conductivity, and polytetrafluoroethylene is easy to obtain electrons.
Further, when no fluid passes through the friction nano power generation device, the impeller does not rotate, and induced charges are not generated by friction between the external dielectric films; when fluid passes through the friction nano power generation device, the fluid drives the impeller to rotate, so that the rotating shaft, the first friction plate and the first dielectric film are driven to rotate; because the second dielectric film, the second friction plate and the robot shell are fixed together and kept static, the first dielectric film and the second dielectric film generate relative friction at the moment to generate induced charges, wherein the first dielectric film is negatively charged, and the second dielectric film is positively charged.
Further, when the contact area of the first dielectric film and the second dielectric film is reduced along with rotation, the separation charges of the first dielectric film and the second dielectric film are increased continuously, and the formed potential difference is increased gradually; when the contact area of the first dielectric film and the second dielectric film increases along with rotation, the separated charges of the first dielectric film and the second dielectric film are in contact with each other, and the potential difference gradually decreases;
in two phases of the one cycle, electrodes are connected through a load, and electrons flow and are opposite in direction under the action of a potential difference, so that a group of alternating currents are generated; the change of the speed of the fluid and the speed of the robot causes the change of the rotating speed of the impeller, and the change of the voltage frequency of friction electrification.
Further, the speed calculation unit includes a rectifier, an angle sensor, and a digital integrated circuit, wherein:
when the friction nano power generation device generates power, the second dielectric film transmits voltage frequency information to the digital integrated circuit through the rectifier by virtue of the lead, and the digital integrated circuit converts the voltage frequency information into relative speed information of the fluid and the pipeline pig robot, so that the speed of the robot is calculated in real time; when the pipeline pig robot moves in a bent pipeline, the angle sensor detects the angle change of the movement of the pipeline pig robot, a speed correction algorithm is started, and the speed calculated by the digital integrated circuit is corrected, so that the accurate speed at the bent pipeline is obtained.
Further, a sealing ring is further arranged on the pipeline pig robot, and when no fluid exists in the pipeline, the pipeline pig robot is not stressed and is kept still; when there is fluid motion in the pipeline, the fluid of pipeline outer loop contacts the sealing washer, because there is pressure difference in front and back of pipeline pig robot fluid, fluid promotes the sealing washer to drive pipeline pig robot motion, simultaneously, the fluid at pipeline center has passed friction nanometer power generation facility, and the speed of robot is accurately calculated to the speed calculation unit.
Further, the speed control unit is electrically connected with the motor and the bypass valve, and the control process comprises the following steps:
if the actual speed of the pipeline pig robot is greater than the maximum speed interval, the motor controls the bypass valve to reduce the opening degree, and the flow passing through the interior of the pipeline pig robot is reduced, so that the speed of the pipeline pig robot is reduced; if the actual speed of the pipeline pig robot is smaller than the minimum speed interval, the motor controls the bypass valve to increase the opening degree, and the flow passing through the interior of the pipeline pig robot is increased, so that the speed of the pipeline pig robot is increased.
Compared with the prior art, the invention has the following advantages:
the speed calculation unit of the pipeline pig speed measurement system based on the friction nano power generation is realized through the digital integrated circuit and the angle sensor of the robot, when the robot moves in a pipeline, the friction nano power generation device transmits an electric signal to the digital integrated circuit, the digital integrated circuit calculates the relative speed of a fluid and the robot through a fitted relation function of the speed and the voltage frequency, and the speed of the robot is obtained through calculating the difference value of the fluid and the relative speed.
The conventional odometer speed measurement method has errors, such as deviation of recorded distance when the wheel passes through a welding line of the pipeline, and the deviation is accumulated along with the increase of the distance. The speed measurement system eliminates the deviation, so that the speed measurement is more accurate.
For the reasons, the method can be widely popularized in the fields of speed measurement of the pipeline pig robot and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
Fig. 1 is a front view of a friction nano-generating device according to the present invention.
Fig. 2 is an exploded view of the friction nano power generation device of the present invention.
Fig. 3 is a schematic view of an assembly device of the friction nano power generation device of the present invention.
Fig. 4 is a schematic diagram of friction power generation of the friction nano power generation device of the present invention.
FIG. 5 is a schematic diagram of a speed calculation unit according to the present invention.
Fig. 6 is an assembly schematic of the pipeline pig robot of the present invention.
In the figure: 1. an impeller; 2. a rotating shaft; 3. a first friction plate; 4. a first dielectric film; 5. a second dielectric film; 6. a second friction plate; 7. a bolt; 8. a mounting ring; 9. the outer wall of the robot; 10. a connecting ring; 11. an electrode; 12. a load; 13. friction nano power generation device; 14. a rectifier; 15. an angle sensor; 16. a digital integrated circuit; 17. a seal ring; 18. a speed calculation unit; 19. a speed control unit; 20. a motor; 21. and a bypass valve.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
The invention provides a friction nano power generation-based pipeline pig speed measurement system, which comprises: friction nano power generation device 13, speed calculation unit 18, speed control unit 19 and pipeline pig robot, wherein:
the pipeline pig robot is cylindrical as a whole;
the friction nano power generation device 13 is assembled at the tail part in the pipeline pig robot body and is used for ensuring that fluid can not be shielded by an object, so that the fluid is directly contacted with the friction nano power generation device;
the speed calculating unit 18 is used for calculating the speed of the pipeline pig robot in real time;
the speed control unit 19 acquires the speed of the pipeline pig robot calculated in real time by the speed calculation unit, and then performs speed control according to a predetermined speed interval.
In specific implementation, as shown in fig. 1 and 2, the friction nano power generation device 13 includes an impeller 1, a rotating shaft 2, a first friction plate 3, a first dielectric film 4, a second dielectric film 5, a second friction plate 6, and an assembly ring 8; wherein:
the impeller 1, the rotating shaft 2, the first friction plate 3 and the first dielectric film 4 are fixed into a whole, the first dielectric film 4 is tightly attached to the outer wall of the first friction plate 3, and the rotating shaft 2, the first friction plate 3 and the first dielectric film 4 are driven to rotate by the rotation of the impeller 1;
the second dielectric film 5, the second friction plate 6 and the assembly ring 8 are fixed into a whole, meanwhile, the assembly ring 8 is fixed with the connecting ring 10 through the bolts 7, and the connecting ring 10 and the outer wall 9 of the robot are integrated; the second dielectric film 5 is tightly attached to the inner wall of the second friction plate 6;
the impeller surface is opposite to the fluid transmission direction and the robot movement direction, so that when fluid passes through the impeller 1, the impeller 1 can be driven to rotate, and when the impeller rotates, the kinetic energy of the fluid is converted into mechanical energy for the rotation of the impeller 1, and different dielectric films are driven to rub by utilizing the rotation of the impeller 1, so that friction electrification is realized, and the connection between the speed and an electric signal is realized.
In specific implementation, as a preferred embodiment of the present invention, as shown in fig. 2, the first dielectric film 4 is a 90-degree arc film, and the material used includes polytetrafluoroethylene PTFE; the second dielectric film 5 is two arc films with 90 degrees, and the adopted materials comprise copper films; the copper film is easy to lose electrons, and the copper film can be used as a metal electrode because of conductivity, and polytetrafluoroethylene is easy to obtain electrons.
In particular, as a preferred embodiment of the present invention, when no fluid passes through the friction nano power generation device, the impeller 1 does not rotate, and no induced charges are generated by friction between external dielectric films; when fluid passes through the friction nano power generation device, the fluid drives the impeller 1 to rotate, so that the rotating shaft 2, the first friction plate 3 and the first dielectric film 4 are driven to rotate; since the second dielectric film 5, the second friction plate 6 and the robot housing 9 are fixed together and kept stationary, the first dielectric film 4 and the second dielectric film 5 are rubbed relatively to generate induced charges, wherein the first dielectric film 4 has a negative charge and the second dielectric film 5 has a positive charge.
In particular, as shown in fig. 4, when the contact area between the first dielectric film 4 and the second dielectric film 5 decreases due to the following rotation, the separation charges of the first dielectric film 4 and the second dielectric film 5 increase, and the potential difference formed increases gradually; when the contact area of the first dielectric film 4 and the second dielectric film 5 increases with the following rotation, the separated charges of the first dielectric film 4 and the second dielectric film 5 contact each other, and the potential difference gradually decreases; in both phases of this cycle, electrodes 11 are connected by load 12, the flow of electrons occurs under the effect of the potential difference and in opposite directions, generating a set of alternating currents; the rotation speed of the impeller 1 changes due to the change of the fluid speed and the robot speed, and the voltage frequency of the friction electrification also changes.
In particular, as a preferred embodiment of the present invention, as shown in fig. 5, the speed calculating unit includes a rectifier 14, an angle sensor 15, and a digital integrated circuit 16, wherein:
when the friction nano power generation device 13 generates power, the second dielectric film 5 transmits voltage frequency information to the digital integrated circuit 16 through the rectifier 14 by virtue of a wire, and the digital integrated circuit 16 converts the voltage frequency information into relative speed information of fluid and the pipeline pig robot, so that the speed of the robot is calculated in real time; when the pipeline pig robot moves in the bent pipeline, the angle sensor 15 detects the angle change of the pipeline pig robot, a speed correction algorithm is started, and the speed calculated by the digital integrated circuit 16 is corrected, so that the accurate speed at the bent pipeline is obtained.
In specific implementation, as shown in fig. 6, the pipeline pig robot is further provided with a sealing ring 17, and when no fluid exists in the pipeline, the pipeline pig robot is not stressed and is kept still; when fluid moves in the pipeline, the fluid of the outer ring of the pipeline contacts the sealing ring 17, and the fluid pushes the sealing ring 17 due to pressure difference between the front and the back of the pipeline pig robot, so that the pipeline pig robot is driven to move, meanwhile, the fluid in the center of the pipeline passes through the friction nano power generation device 13, and the speed of the robot is accurately calculated by the speed calculation unit.
In specific implementation, as a preferred embodiment of the present invention, with continued reference to fig. 6, the electrical connection between the motor 20 and the bypass valve 21 at 19 includes:
if the actual speed of the pipeline pig robot is greater than the maximum speed interval value, the motor 20 controls the bypass valve 21 to reduce the opening degree, and the flow passing through the interior of the pipeline pig robot is reduced, so that the speed of the pipeline pig robot is reduced; if the actual speed of the pipeline pig robot is smaller than the minimum speed interval, the motor 20 controls the bypass valve 21 to increase the opening degree and the flow rate passing through the interior of the pipeline pig robot, so that the speed of the pipeline pig robot is increased.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. Pipeline pig speed measurement system based on friction nanometer electricity generation, characterized by comprising: friction nanometer power generation facility (13), speed calculation unit (18), speed control unit (19) and pipeline pig robot, wherein:
the pipeline pig robot is cylindrical as a whole;
the friction nano power generation device (13) is assembled at the tail part in the pipeline pig robot body and is used for ensuring that fluid can not be shielded by an object, so that the fluid is directly contacted with the friction nano power generation device;
the speed calculation unit (18) is used for calculating the speed of the pipeline pig robot in real time;
the speed control unit (19) acquires the speed of the pipeline pig robot calculated in real time by the speed calculation unit (18), and then performs speed control according to a predetermined speed interval.
2. The friction nano power generation-based pipeline pig speed measurement system according to claim 1, wherein the friction nano power generation device (13) comprises an impeller (1), a rotating shaft (2), a first friction plate (3), a first dielectric film (4), a second dielectric film (5), a second friction plate (6) and an assembly ring (8); wherein:
the impeller (1), the rotating shaft (2), the first friction plate (3) and the first dielectric film (4) are fixed into a whole, the first dielectric film (4) is tightly attached to the outer wall of the first friction plate (3), and the rotating shaft (2), the first friction plate (3) and the first dielectric film (4) are driven to rotate by the rotation of the impeller (1);
the second dielectric film (5), the second friction plate (6) and the assembly ring (8) are fixed into a whole, meanwhile, the assembly ring (8) is fixed with the connecting ring (10) through bolts (7), and the connecting ring (10) and the outer wall (9) of the robot are integrated; the second dielectric film (5) is tightly attached to the inner wall of the second friction plate (6);
the impeller surface is opposite to the fluid transmission direction and the robot movement direction, so that when fluid passes through the impeller (1), the impeller (1) can be driven to rotate, and when the impeller rotates, the kinetic energy of the fluid is converted into mechanical energy for the rotation of the impeller (1), and different dielectric films are driven to rub by utilizing the rotation of the impeller (1), so that friction electrification is realized, and the connection between the speed and an electric signal is realized.
3. The friction nano power generation-based pipeline pig speed measurement system according to claim 2, wherein the first dielectric film (4) is a 90-degree arc-shaped film made of Polytetrafluoroethylene (PTFE); the second dielectric film (5) is two arc films with 90 degrees, and the adopted materials comprise copper films; the copper film is easy to lose electrons, and the copper film can be used as a metal electrode because of conductivity, and polytetrafluoroethylene is easy to obtain electrons.
4. The friction nano power generation-based pipeline pig speed measurement system according to claim 3, wherein when no fluid passes through the friction nano power generation device, the impeller (1) does not rotate, and no induced charges are generated by friction between external dielectric films; when fluid passes through the friction nano power generation device, the fluid drives the impeller (1) to rotate, so that the rotating shaft (2), the first friction plate (3) and the first dielectric film (4) are driven to rotate; the second dielectric film (5), the second friction plate (6) and the robot shell (9) are fixed together to be kept static, and at the moment, the first dielectric film (4) and the second dielectric film (5) are rubbed relatively to generate induced charges, wherein the first dielectric film (4) is negatively charged, and the second dielectric film (5) is positively charged.
5. The friction nano power generation-based pipeline pig speed measurement system according to claim 4, wherein when the contact area of the first dielectric film (4) and the second dielectric film (5) is reduced along with rotation, the separation charges of the first dielectric film (4) and the second dielectric film (5) are increased continuously, and the formed potential difference is increased gradually; when the contact area of the first dielectric film (4) and the second dielectric film (5) increases along with rotation, the separated charges of the first dielectric film (4) and the second dielectric film (5) are contacted with each other, and the potential difference gradually decreases;
in both phases of this cycle, electrodes (11) are connected by a load (12), the flow of electrons occurring under the effect of a potential difference and in opposite directions, generating a set of alternating currents; the rotation speed of the impeller (1) changes due to the change of the fluid speed and the robot speed, and the voltage frequency of friction electrification also changes.
6. The friction nano-generation based pipeline pig speed measurement system according to claim 1, wherein the speed calculation unit (18) comprises a rectifier (14), an angle sensor (15) and a digital integrated circuit (16), wherein:
when the friction nano power generation device (13) generates power, the second dielectric film (5) transmits voltage frequency information to the digital integrated circuit (16) through the rectifier (14), and the digital integrated circuit (16) converts the voltage frequency information into relative speed information of the fluid and the pipeline pig robot, so that the speed of the robot is calculated in real time; when the pipeline pig robot moves in a bent pipeline, the angle sensor (15) detects the angle change of the movement of the pipeline pig robot, a speed correction algorithm is started, and the speed calculated by the digital integrated circuit (16) is corrected, so that the accurate speed at the bent pipeline is obtained.
7. The friction nano power generation-based pipeline pig speed measurement system according to claim 1, wherein a sealing ring (17) is further arranged on the pipeline pig robot, and when no fluid exists in the pipeline, the pipeline pig robot is not stressed and is kept static; when fluid moves in the pipeline, the fluid of the outer ring of the pipeline contacts the sealing ring (17), and the fluid pushes the sealing ring (17) due to pressure difference between the front and the back of the pipeline pig robot, so that the pipeline pig robot is driven to move, meanwhile, the fluid in the center of the pipeline passes through the friction nano power generation device (13), and the speed of the robot is accurately calculated by the speed calculation unit.
8. The friction nano power generation-based pipeline pig speed measurement system according to claim 1, wherein the speed control unit (19) is electrically connected with the motor (20) and the bypass valve (21), and the control process comprises:
if the actual speed of the pipeline pig robot is greater than the maximum speed interval, the motor (20) controls the bypass valve (21) to reduce the opening degree, and the flow passing through the interior of the pipeline pig robot is reduced, so that the speed of the pipeline pig robot is reduced; if the actual speed of the pipeline pig robot is smaller than the minimum speed interval, the motor (20) controls the bypass valve (21) to increase the opening degree, and the flow passing through the interior of the pipeline pig robot is increased, so that the speed of the pipeline pig robot is increased.
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