CN215488360U - Online three-dimensional reconstruction internal detection device for gas pipeline - Google Patents
Online three-dimensional reconstruction internal detection device for gas pipeline Download PDFInfo
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- CN215488360U CN215488360U CN202120706734.7U CN202120706734U CN215488360U CN 215488360 U CN215488360 U CN 215488360U CN 202120706734 U CN202120706734 U CN 202120706734U CN 215488360 U CN215488360 U CN 215488360U
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Abstract
The utility model relates to an online three-dimensional reconstruction internal detection device of a gas transmission pipeline, which comprises a shell body consisting of a detector shell, a laser loading platform, a head top cover and a tail top cover, wherein the laser loading platform is arranged at the front end of the detector shell, the head top cover is arranged at the end part of the laser loading platform, and the tail top cover is arranged at the rear end of the detector shell; the detector shell is provided with a plurality of supporting legs at intervals in the circumferential direction, each supporting leg is connected with the detector shell through a supporting leg swinging mechanism, and each supporting leg end part is provided with an auxiliary mileage wheel. The utility model can clearly and intuitively restore the actual structure in the pipeline and identify the actual condition and surface defects of the inner wall. And provides complete information of the inner surface of the completed pipe along the way and the internal integrity of the pipe.
Description
Technical Field
The utility model relates to an online three-dimensional reconstruction internal detection device for a gas transmission pipeline, which is used for the technical field of operation safety and pipeline internal detection of a natural gas transmission pipeline and a natural gas pipeline network.
Background
The detection in the gas transmission pipeline is the most direct, reliable and effective technical means for carrying out physical examination, defect finding and positioning, body aging evaluation and effective service evaluation on the gas transmission pipeline network in recent years, but the defects of complex operation conditions of the pipeline and various types of defects of the pipeline body exist, the analysis and identification algorithm of detection data is complex, the output result is not visual, the defect positioning lacks physical reference and the like.
In addition, a pipeline video inspection crawler (CCTV) technology is developed earlier, and is connected through a cable or a cable in a normal-pressure pipeline, so that illumination, photographing and shooting are performed inside the off-line pipeline, and after the illumination, photographing and shooting are performed, the off-line pipeline is recycled through the cable or the cable, so that the crawling distance is usually short, and the longest crawling distance can reach hundreds of meters. The pipeline video detection crawler is usually used for municipal pipelines (sewage, drainage and the like), is also used for non-pressurized open oil and gas pipelines, is used for short-distance detection and identification of the near end of the pipeline, and cannot be used in long-distance in-service pressurized gas pipelines.
The existing detection technology in the gas transmission pipeline has the defects of complex detection data analysis and recognition algorithm, non-visual output result, lack of physical reference for defect positioning and the like, and the development of the early pipeline video detection crawler (CCTV) technology needs to link cables or cables outside the pipeline, can only be used for the detection and recognition of the near-port end of a non-pressurized open oil and gas pipeline in short distance and cannot be used in a long-distance in-service pressurized gas transmission pipeline.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an online three-dimensional reconstruction internal detection device for a gas transmission pipeline, which can clearly and intuitively restore the actual structure inside the pipeline and identify the actual condition and surface defects of the inner wall. And provides complete information of the inner surface of the completed pipe along the way and the internal integrity of the pipe.
In order to achieve the purpose, the utility model adopts the following technical scheme: the online three-dimensional reconstruction internal detection device for the gas transmission pipeline comprises a shell body formed by a detector shell, a laser loading platform, a head top cover and a tail top cover, wherein the laser loading platform is arranged at the front end of the detector shell, the head top cover is arranged at the end part of the laser loading platform, and the tail top cover is arranged at the rear end of the detector shell; the detector shell is provided with a plurality of supporting legs at intervals in the circumferential direction, each supporting leg is connected with the detector shell through a supporting leg swinging mechanism, and each supporting leg end part is provided with an auxiliary mileage wheel.
Further, the laser loading station is connected to the detector housing through a rotation mechanism.
Furthermore, the laser loading platform has an inclination angle with the horizontal advancing direction, adopts a reducing structure, and gradually shrinks from the connection part with the detector shell to the front end.
Furthermore, a plurality of laser scanners are evenly distributed on the laser loading platform in the circumferential direction, and the plurality of laser scanners form a scanning array.
Further, the type of the laser scanner is spot emission, line scanning, area scanning, or phase scanning.
Further, a flexible external connecting pipe is arranged in the shell, the end part of the flexible external connecting pipe penetrates through the tail end cover and is connected with a conventional pipe cleaner, a geometric detector or an in-pipeline detector,
furthermore, a connecting cable and a connecting data wire are arranged in the flexible external connecting pipe; the laser loading platform is connected with the battery section of the conventional pipe cleaner, the geometric detector or the in-pipeline detector through the connecting cable, and is connected with the data reading and writing storage section of the conventional pipe cleaner, the geometric detector or the in-pipeline detector through the connecting data line.
Further, the number of the support legs is three or four.
Due to the adoption of the technical scheme, the utility model has the following advantages: the utility model is high pressure resistant, relatively uniform, battery powered and real-time data storage, can clearly and visually restore the actual structure in the pipeline, identify the inner wall corrosion thinning and the inner wall surface cracks and crack defects, identify the actual conditions and surface defects of special pipe fittings (tee joints, elbows, valves, insulated joints and the like), replace the function of a conventional geometric detector, replace the function of a detector (magnetic flux leakage) in the pipeline to a certain extent, and additionally provide complete information of the inner surface of the pipeline along the way and the internal complete information of the pipe fittings.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention.
Detailed Description
The utility model is described in detail below with reference to the figures and examples.
As shown in fig. 1, the present invention provides an online three-dimensional reconstruction internal detection device for a gas transmission pipeline, which is a mechanical mechanism platform capable of moving inside the pipeline by means of support legs and auxiliary odometer wheels, and is of a closed and pressure-resistant structure. The laser detector comprises a shell consisting of a detector shell 1, a laser loading platform 2, a head top cover 3 and a tail top cover 4, wherein the laser loading platform 2 is arranged at the front end of the detector shell 1, and the head top cover 3 is arranged at the end part of the laser loading platform 2; the rear end of the detector shell 1 is provided with a tail top cover 4. A plurality of support legs 5 are arranged on the detector shell 1 at intervals in the circumferential direction, and the number of the support legs 5 can be three or four; each supporting leg 5 is respectively connected with the detector shell 1 through a supporting leg swinging mechanism 6, the supporting legs 5 can move in a certain angle through the supporting leg swinging mechanisms 6 to form flexibility, so that inclination and collision are avoided, and the change and the passability of the inner diameter size of the pipeline are adapted; and the end of each support leg 5 is provided with an auxiliary mileage wheel 7.
In the above embodiment, the laser loading platform 2 is connected to the detector housing 1 through the rotation mechanism, and can rotate 360 degrees.
In the above embodiments, the laser loading table 2 has an inclination angle with respect to the horizontal direction of advance, and is formed in a tapered structure so as to be gradually tapered from the connection with the detector housing 1 toward the front end.
In the above embodiments, the laser scanners 8 are uniformly distributed on the laser loading platform 2 in the circumferential direction, and the laser scanners 8 form a scanning array to realize the laser three-dimensional scanning reconstruction function. The laser scanner 8 is not limited to the dot emission, line scanning, area scanning, and phase scanning types, and a scanning array composed of a plurality of laser scanners 8 may cover a circumferential range of 360 degrees.
In the above embodiments, a flexible external connection pipe 9 is further disposed inside the casing, and the end of the flexible external connection pipe 9 passes through the tail cap 4 and is connected with a conventional pig, a geometric detector or an in-pipe detector for power supply and data exchange and storage. And a connecting cable 10 and a connecting data line 11 are arranged in the flexible external connecting pipe 9, the laser loading platform 2 is connected with a battery section of a conventional pipe cleaner, a geometric detector or a pipeline inner detector through the connecting cable 10, and is connected with a data reading and writing storage section of the conventional pipe cleaner, the geometric detector or the pipeline inner detector through the connecting data line 11.
In the above embodiments, the auxiliary mileage wheel 7 is used for mileage recording by the number of rotations of the wheel.
During use, under the conditions that a gas pipeline is in service and runs under online pressure, the detection device moves forward relatively at a constant speed under the action of pressure difference in online three-dimensional reconstruction, high-precision laser arrays formed by a plurality of laser scanners 8 on a laser loading platform 2 are used for scanning, recording and storing complete information on the inner wall of the pipeline along the way, and then the data are recorded and stored for processing and three-dimensional reconstruction through scanning, mileage data are read by combining with the counting data of an auxiliary mileage wheel 7, and the complete surface information of the actual way including pipe fittings (tee joints, elbows, valves, insulating joints and the like) inside the pipeline is clearly and intuitively restored. The auxiliary odometer wheel 7 is used for recording distance information moving along the interior of the pipeline, and the data processing and three-dimensional reconstruction are used for recording three-dimensional laser scanning space information of the interior space of the pipeline, namely geometric data of the inner pipe wall of the pipeline. After the operation is completed, the data processing is used for reading out the laser three-dimensional scanning data.
The three-dimensional reconstruction is to connect data scanned in three dimensions in the pipeline to a computer to upload and read the data after the device finishes the scanning work of the whole pipeline section, and the data scanned on line is restored into a continuous three-dimensional space in the pipeline through the existing software, so that the geometric defects on the inner wall of the pipeline, namely changes such as convex-concave, cracks and the like, can be identified.
Based on the on-line three-dimensional reconstruction internal detection device, the utility model also provides an on-line three-dimensional reconstruction internal detection method of the gas transmission pipeline, which specifically comprises the following steps:
under the conditions that a gas pipeline is in service and runs under online pressure, the detection device in online three-dimensional reconstruction moves forward relatively at a constant speed under the action of pressure difference, high-precision laser arrays consisting of a plurality of laser scanners 8 on a laser loading platform 2 are used for scanning, recording and storing complete information on the inner wall of the pipeline along the way, data are recorded and stored for subsequent processing and three-dimensional reconstruction through scanning, mileage data are read by combining with counting data of an auxiliary mileage wheel 7, and complete surface information of the actual way including pipe fittings (tee joints, elbows, valves, insulating joints and the like) inside the pipeline is clearly and visually restored.
In summary, the utility model is high pressure resistant, relatively uniform, can realize battery power supply and real-time data storage, carries out three-dimensional reconstruction on the inner wall of the pipeline along the way by a high-precision laser array scanning mode, can clearly and intuitively restore the actual structure in the pipeline, identifies the inner wall corrosion thinning and the inner wall surface cracks and crack defects, identifies the actual condition and the surface defects of special pipe fittings (tee joints, elbows, valves, insulating joints and the like), can replace the function of a conventional geometric detector, replaces the function of a detector (magnetic leakage) in the pipeline to a certain extent, and additionally provides complete information of the inner surface of the pipeline along the way and the complete information of the inside of the pipe fittings. The device and the method are implemented in a motion mode under the on-line working condition in service inside a gas transmission pipeline, detect the inner surface of the pipeline in a laser three-dimensional scanning and three-dimensional reconstruction mode and restore complete surface information along the pipeline inside.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although the embodiments of the present invention have been shown and described, it is understood that the embodiments are illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the embodiments without departing from the scope of the present invention.
Claims (8)
1. The utility model provides a detection device in online three-dimensional reconstruction of gas transmission pipeline which characterized in that: the laser loading platform is arranged at the front end of the detector shell, the head top cover is arranged at the end part of the laser loading platform, and the tail top cover is arranged at the rear end of the detector shell; the detector shell is provided with a plurality of supporting legs at intervals in the circumferential direction, each supporting leg is connected with the detector shell through a supporting leg swinging mechanism, and each supporting leg end part is provided with an auxiliary mileage wheel.
2. The on-line three-dimensional reconstruction internal detection device of the gas transmission pipeline as recited in claim 1, wherein: the laser loading platform is connected with the detector housing through a rotating mechanism.
3. The on-line three-dimensional reconstruction internal detection device of the gas transmission pipeline as recited in claim 1, wherein: the laser loading platform has an inclination angle with the horizontal advancing direction, adopts a reducing structure, and gradually shrinks from the connection part with the detector shell to the front end.
4. The on-line three-dimensional reconstruction internal detection device of the gas transmission pipeline as recited in any one of claims 1 to 3, characterized in that: the laser device loading platform is circumferentially and uniformly distributed with a plurality of laser scanners, and the plurality of laser scanners form a scanning array.
5. The on-line three-dimensional reconstruction internal detection device of the gas transmission pipeline as recited in claim 4, wherein: the laser scanner is of the type spot emission, line scanning, area scanning or phase scanning.
6. The on-line three-dimensional reconstruction internal detection device of the gas transmission pipeline as recited in claim 1, wherein: the flexible external connecting pipe is arranged in the shell, and the end part of the flexible external connecting pipe penetrates through the tail end top cover and is connected with a pipe cleaner, a geometric detector or a pipeline internal detector.
7. The on-line three-dimensional reconstruction internal detection device of a gas pipeline as recited in claim 6, wherein: a connecting cable and a connecting data wire are arranged in the flexible external connecting pipe; the laser loading platform is connected with the battery section of the pipe cleaner, the geometric detector or the detector in the pipeline through the connecting cable, and is connected with the data reading and writing storage section of the pipe cleaner, the geometric detector or the detector in the pipeline through the connecting data line.
8. The on-line three-dimensional reconstruction internal detection device of the gas transmission pipeline as recited in claim 1, wherein: the number of the supporting legs is three or four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120706734.7U CN215488360U (en) | 2021-04-07 | 2021-04-07 | Online three-dimensional reconstruction internal detection device for gas pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120706734.7U CN215488360U (en) | 2021-04-07 | 2021-04-07 | Online three-dimensional reconstruction internal detection device for gas pipeline |
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| Publication Number | Publication Date |
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| CN215488360U true CN215488360U (en) | 2022-01-11 |
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| CN202120706734.7U Active CN215488360U (en) | 2021-04-07 | 2021-04-07 | Online three-dimensional reconstruction internal detection device for gas pipeline |
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2021
- 2021-04-07 CN CN202120706734.7U patent/CN215488360U/en active Active
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