KR102513778B1 - Pigging apparatus and method for integrated water pipe network management navigation using low nitrogen and Self-driving - Google Patents

Abstract

The present invention relates to a navigation pigging device for integrated pipe network management using low-pressure nitrogen and autonomous driving, and to a method thereof, which safely and efficiently clean attachments. The navigation pigging device for integrated pipe network management, comprises: a nitrogen supply control unit; a smart pig including a cleaning device and a driving module; a pig inlet including a second body and a nitrogen inlet pipe; a discharge port including a second flow meter and a discharge opening and closing device; and a control unit for controlling the overall pigging process.

Description

Pigging apparatus and method for integrated water pipe network management navigation using low nitrogen and self-driving}

The present invention relates to a navigation pigging device and method for integrated pipe network management using low pressure nitrogen and autonomous driving. It relates to a navigation pigging device and method for integrated pipe network management using low pressure nitrogen and autonomous driving, which use pressure and energy of the pipe and autonomously change the speed while recognizing bends and weak parts of the pipeline.

In general, water pipes buried underground are designed to withstand a pressure of about 8-15 kgf/cm2, and are exposed to a polluted environment during long-term use. This shrinkage or pipe corrosion occurs, causing water pollution and leaks.

If the cleaning method using high-pressure washing water or high-pressure gas is used without carefully controlling the physical frictional force generated by the high pressure, damage to the coating and parts of the pipe may occur, and safety problems may occur while using high-pressure gas. Even in the High-Pressure Gas Safety Management Act, there is a disadvantage in that the storage and use of high-pressure gas with a pressure of 10 kgf/cm2 or more and a pressure of 500 m3 or more are regulated.

In addition, the swap pig washing method, which moves the pig by the pressure of the washing water, requires a large amount of washing water to move the pig, and since it is a washing method that is performed while guessing the strength of the washing, the gravity of the washing water and the flow shock caused by the speed of the pig Pipeline damage may occur, and there are disadvantages in that accidents such as loss of pigs occur in water supply pipes having many branch pipes.

In addition, since the pulsating flow cleaning method using compressed air and washing water is a method of injecting compressed air into the pipe line while producing compressed air with a compressor on site, the continuous and constant air vibration of the compressor generated in the process of producing compressed air can damage the pipes of water pipes. There is a disadvantage in that vibration or damage to the connection part is concerned.

In addition, in the pigging of gas pipelines that transport gas, heavy and large metal pigs are put in and high-pressure gas is supplied in the pipe at a normal pressure of 50 kgf/cm2-70 kgf/cm2, and fast travel by fluid flow. Because of the pigging, there are many bends and leaky pipes, and it is difficult to apply to water supply pipes that are designed to withstand a pressure of about 8-15 kgf / cm2.

In addition, pigging of gas piping uses the fluid flow in which flammable gas continuously flows at high pressure, so it is not possible to install an opening in the pipe, so it is not possible to send data in real time during pigging. There is a downside to predicting the state and proceeding.

In addition, predictive pigging has a disadvantage in that an accident in which a pipe or a pig device is damaged in the pigging step occurs when an error occurs in the pigging possibility prediction step.

Republic of Korea Patent Registration No. 10-2253395 (2021.05.12.)

The purpose of the present invention was made in view of the existing problems, and by building a database that analyzes and processes the entire process and data generated from nitrogen supply to smart pig, pig inlet, and discharge port, predicting the life of the pipe, leak Manage the technical goals of pipe network maintenance, such as detection and prediction of appropriate cycles for cleaning,

Compressed nitrogen of less than 10kgf/cm2 is used in accordance with the restriction standards of the High-Pressure Gas Safety Management Act, and low-pressure nitrogen is supplied into the water pipe at a constant pressure and in a safe system.

Even with low-pressure compressed nitrogen input, the smart pig can be moved and the probe is light and compact so that it can run in bends and weak parts of the pipeline.

In the pigging step, the exploration device is installed inside the core of the smart pig center composed of high-elasticity and high-density foam so that the conduit and exploration device are safe from flow shock,

The core functions of Smart Pig, such as exploration function, location tracking function, and data management function of Pig, are made into a double safety system to prepare for data damage and pig accidents,

Install a retractable saddle device and a wireless relay device at the outlet of the washing pipe, transmit the exploration data acquired from the smart pig to the integrated database without damage, monitor the pipe condition in the field in real time, adjust the strength of the pigging,

Smart Pig's autonomous driving recognizes the bends and weak parts of the pipe, autonomously changes the speed of the Smart Pig according to the pipe condition, and performs pigging using low pressure nitrogen while using navigation to ensure safe pigging and cleaning quality It is to provide a navigation pigging device and method of integrated pipe network management using low pressure nitrogen and autonomous driving that can increase

The navigation pigging device for integrated pipe network management using low-pressure nitrogen and autonomous driving according to an embodiment of the present invention for solving the above technical problem is a plurality of nitrogen collection pipes ( 110), a collection control tank 120 to which the plurality of nitrogen collection pipes 110 are connected, and a discharge control pipe connected to the collection control tank 120 to adjust and discharge compressed nitrogen to a low pressure of less than 10 kgf/cm 2 Nitrogen supply control unit 100 consisting of (130); A core 210 installed in the center and the front portion, a cleaning device 220 installed on the outer circumference of the center of the core 210, a search device 230 installed inside the center of the core 210, Smart pig 200 composed of a drive module 240 installed in the rear part of the center of the core 210; The second body 310 into which the smart pig 200 is put into the conduit at the top of one side of the washing pipe, the inlet opening and closing device 320 installed in the opening of the second body 310, and the second body 310 ) Nitrogen input installed in the inlet opening and closing device 320 to inject compressed nitrogen into the second body 310 connected to the fourth pressure measuring system 330 installed inside and the discharge control pipe 130 A pig inlet 300 composed of a pipe 340; A second flow meter 410 installed on one side of the discharge flow path, a speed meter 420 installed at the rear of the second flow meter 410, and a retractable saddle device installed at the rear of the speed meter 420 A discharge port 400 composed of a 430, a wireless repeater 440 installed in the open and close saddle device 430, and a discharge switch 450 installed at the rear of the open and close saddle device 430; And an integrated database 510 that analyzes and processes data received from the exploration device 230, and an autonomous steering system 520 that autonomously drives the smart pig 200 in conjunction with the integrated database 510 is built. It is characterized in that it includes; a control unit 500 in which a main computer is installed to control the entire pigging process.

As another embodiment, on one side of the nitrogen collection pipe 110 of the present invention, a first pressure measuring instrument 111, a first pressure regulator 112, and an automatic opening/closing device 113 including a pressure sensor are installed at regular intervals. It is characterized in that it is installed in a row with a.

As another embodiment, the collection control tank 120 of the present invention is connected to a plurality of the nitrogen collection tubes 110, and the first body 121 receives and stores compressed nitrogen adjusted to a medium pressure of 50 kgf / cm 2 or less And, a second pressure measuring instrument 122 installed on one side of the upper portion of the first body 121 to measure pressure, and a safety device installed on one side of the upper portion of the first body 121 to automatically adjust the pressure when excess pressure occurs Characterized in that it includes a valve 123.

As another embodiment, a third side of the discharge control pipe 130 of the present invention is connected to the self-regulation system 520 to discharge while controlling the flow rate of compressed nitrogen passing through the discharge control pipe 130. It is characterized in that the pressure measuring instrument 131, the second pressure regulator 132, the first flow measuring instrument 133, and the flow regulator 134 including the sensor are installed in a row at regular intervals.

As another embodiment, the central and front portions of the core 210 of the present invention are characterized in that they are composed of high-elasticity and high-density foam in a cylindrical shape and a hemispherical shape.

As another embodiment, the washing device 220 of the present invention is characterized in that it is composed of a plurality of washing discs 221 formed of disc foam to be installed on the outer circumference of the core 210 and run.

As another embodiment, the exploration device 230 of the present invention, the pipe measurement module 231 installed in the center of the front part of the core 210 to measure and photograph the pipe state, and the inside of the core 210 A magnetic position measurement module 232 installed at the rear of the pipe line measuring module 231 with respect to the center to measure the magnetic position of the smart pig 200, and a front side washing disk among the plurality of washing disks 221 ( 221) and a communication module 233 installed in the center to convert data, a storage module 234 installed in the center of the middle side washing disk 221 among the plurality of washing disks 221 to store data, Among the plurality of washing disks 221, a power module 235 installed in the center of the rear side washing disk 221 to supply power, and a pipe measurement module 231 installed inside the core 210, The housing 236 that protects the circumference of the magnetic positioning module 232, the communication module 233, the storage module 234, and the power module 235 and is installed to pass through the inner center of the core 210. and a connection unit 237 connecting the pipeline measurement module 231, the magnetic position measurement module 232, the communication module 233, the storage module 234, the power module 235, and the driving module 240 characterized by

As another embodiment, the pipeline measurement module 231 of the present invention is characterized in that it consists of a plurality of LIDAR sensors and video cameras.

As another embodiment, the magnetic position measurement module 232 of the present invention is characterized in that it is composed of a gyro sensor, an acceleration sensor, and a pulse transmission device.

As another embodiment, the communication module 233 of the present invention converts the exploration data measured by the exploration device 230 to the main computer of the control unit 500 and the storage through the wireless repeater 440. Characterized by sending each to module 234.

As another embodiment, the housing 236 of the present invention provides a space in which the hardware of the search device 230 is mounted, and the pipe measurement module 231, the magnetic position measurement module 232, and the communication module 233 , The storage module 234 and the power module 235 are characterized in that they are composed of highly elastic and high-density foam to be protected from external impact.

As another embodiment, the driving module 240 of the present invention is installed in the rear part of the core 210 as a disc-shaped highly elastic and high-density foam, and the smart pig ( 200) is formed concave inside the smart pig 200 to correspond to the compressed nitrogen introduced to the rear and the driving pressure measuring unit 241 measures the pressure of the compressed nitrogen introduced to the rear of the smart pig 200 characterized by being installed.

On the other hand, in the navigation pigging method of integrated pipe network management using low pressure nitrogen and autonomous driving according to an embodiment of the present invention, the control unit ( 500) to set the reference pressure of low-pressure nitrogen in conjunction with the self-regulation system 520, and set the flow rate input control range so that the speed of the smart pig 200 is autonomously adjusted according to the pipe diameter and pipe condition. An autonomous driving control step (S1) of setting an autonomous driving range of the smart pig 200 in the conduit; A smart pigging step (S2) of preparing a smart map for navigation by receiving exploration data and images in real time and monitoring the pipe condition in real time, conducting exploration and basic cleaning of the pipe through autonomous driving of the smart pig 200; After the smart pigging step, while driving the smart pig 200 using the navigation, mixing with the mixing pressure of washing water and nitrogen with the driving force of the smart pig 200 to perform re-exploration and washing of the pipeline or secondary pigging of the customs pipe A nitrogen swap pigging step (S3) of pigging a pipeline while driving the smart pig 200 using flow; After the nitrogen swap-pigging step, the mixing pressure of the washing water and nitrogen flowing through the pipe flowing through the pipe is adjusted to a low pressure of less than 10 kgf / cm 2 to remove the sediment remaining inside the water pipe by the mixed flow generated by introducing nitrogen into the washing water A nitrogen pulsating current washing step (S4) of performing a tertiary pipe cleaning while introducing; and a cleaning evaluation step (S5) of analyzing the discharged water and discharged substances of the smart pigging step, the nitrogen swap pigging step, and the nitrogen pulsating current washing step, and evaluating the pipe condition to determine whether to start or end the cleaning; Pipeline analysis step of preparing to build an integrated database 510 of the control unit 500 by analyzing the data received in the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step to evaluate the state of the pipe line ( S6); characterized in that it includes.

As another embodiment, the autonomous driving control step (S1) of the present invention sets the reference pressure of low-pressure nitrogen moved by the driving force of the smart pig 200 in conjunction with the autonomous control system 520, and Set the autonomous driving range so that the speed of the smart pig 200 is controlled in the pipe in relation to the nitrogen flow rate, pipe pressure, and pipe exploration data that are introduced, and the moving speed of the smart pig 200 is such that the pipe is not damaged. It is characterized by setting the optimal speed for image diagnosis within a range without, but setting the moving speed of the smart pig 200 to 2 m / s or less so that there is no damage to the pipe in the weak part of the pipe according to the pipe condition.

As another embodiment, in the smart pigging step (S2) of the present invention, the data and images of the exploration device 230 explored while moving the smart pig 200 autonomously in the pipeline are transferred to the integrated database 510. While transmitting, it checks the pipe condition in real time, detects the distance and condition of the smart pig 200 traveling on the pipe and the bend, attachment, and weak part of the pipe, and connects with the self-regulation system 520 to make the smart pig 200 ) to perform the first pigging, which explores and cleans the pipeline while controlling the traveling speed of It is characterized by preparing a smart map for navigation by precisely grasping the deposition state and location of the bend and attachment.

As another embodiment, the nitrogen swap pigging step (S3) of the present invention uses the mixing pressure and mixed flow of washing water and nitrogen as a driving force for the movement of the smart pig 200, and uses navigation provided after primary pigging The cleaning device 220 of the smart pig 200 is in the pipe to move the smart pig 200 and perform the second pigging to re-measure the pipe condition while removing the attachments remaining on the pipe after the first pigging. Depending on the softness and hardness of the attached attachment and the condition of the pipe, the size and strength suitable for the pipe swap are selected to separate the cleaning and customs of the pipe, and the frictional force generated while the smart pig 200 travels in close contact with the pipe wall It is characterized in that the conduit is washed and customs with the frictional force generated by the mixed flow of washing water and nitrogen at the rear of the smart pig (200).

As another embodiment, in the nitrogen pulsating flow washing step (S4) of the present invention, the pressure is measured while the flow rate of the washing water flowing through the pipe is 50% or less of the pipe, and then the mixed pressure of the washing water and nitrogen is measured in a general metal pipe. Initiate nitrogen input at a pressure of less than 10kgf/cm2, start at less than 7kgf/cm2 in a hard resin pipe, and mix the washing water with low-pressure nitrogen according to the condition of the pipe while measuring the flow rate and discharge speed of the washing water discharged from the discharge part. It is introduced by adjusting the pressure and each flow rate, and is characterized in that the third pipe cleaning is performed to remove the sediment remaining in the pipe after nitrogen swap pigging with a mixed flow of washing water and low pressure nitrogen.

As another embodiment, the cleaning evaluation step (S5) of the present invention is an additional smart pigging step according to the analysis of discharge water and discharged substances and evaluation of pipe conditions in the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step. , determining the start and end of the nitrogen swap-pigging step and the nitrogen pulsating current washing step, and determining the treatment method of the discharged water and discharged material.

As another embodiment, in the pipeline analysis step (S6) of the present invention, the pipe through the data of the integrated database 510 of the control unit 500 and the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step. Pipeline damage caused by corrosion and attachments and thickness change of the pipe body are analyzed in real time, and the appropriate cycle of cleaning is predicted, the life of the pipe is predicted, and the integrated database 510 for leak detection is prepared, and leak is detected due to pipe damage. After closing the discharge passage with the discharge switchgear 450, low-pressure nitrogen is injected into the pipe to maintain the pipe pressure at a constant pressure and determine the rate at which the holding pressure decreases to diagnose leaks and pipe damage. to be characterized

The navigation pigging device and method for integrated pipe network management using low-pressure nitrogen and autonomous driving of the present invention monitors the pipeline condition in real time in connection with the autonomous control system and cleans the pipeline with the autonomous driving of the smart pig to remove scale and sediment without damage to the pipeline. It has the effect of safely and efficiently cleaning the attachments of the

In addition, it provides a smart map for navigation using the exploration data of the multifunctional smart pig, and has the effect of safely implementing pigging without occurrence of side effects of pigging using the navigation.

In addition, there is a conduit disinfection effect that kills microorganisms living in biofilms from re-growth by compressed nitrogen used as a driving force of smart pigs.

In addition, by constructing an integrated database by analyzing and processing exploration data in relation to each other, there is an effect of integrated management of technical goals of pipe network maintenance, such as predicting the proper cycle of cleaning, predicting pipe life, and detecting leaks.

1 is a flow chart of a navigation pigging device for integrated pipe network management using low-pressure nitrogen and autonomous driving according to the present invention.
Figure 2 is a configuration diagram showing a combined state of a nitrogen supply control unit composed of a nitrogen collection pipe, a collection control tank, and a discharge control pipe according to the present invention.
Figure 3 (a) (b) is a configuration diagram showing the inside and outside of the smart pig according to the present invention.
Figure 4 (a) (b) is a configuration diagram showing the front and rear parts of the smart pig according to the present invention.
Figure 5 (a) (b) is a configuration diagram showing the coupling state of the water pipe, the pig inlet and the discharge port according to the present invention.
6 is a flow chart of a navigation pigging method of integrated pipe network management using low-pressure nitrogen and autonomous driving according to the present invention.

Hereinafter, in order to fully understand the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings 1 to 6, and the shape of elements in the drawings may be exaggerated to emphasize a clearer description. . Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited to the examples described in detail below.

1 to 5, in the navigation pigging device for integrated pipe network management using low-pressure nitrogen and autonomous driving according to an embodiment of the present invention, a plurality of nitrogen cylinders 110a are connected to collect compressed nitrogen. A collection tube 110, a collection control tank 120 to which a plurality of nitrogen collection pipes 110 are sequentially connected in series and parallel, and a collection control tank 120 connected to the collection control tank 120 to supply compressed nitrogen at a low pressure of less than 10 kgf/cm 2 Nitrogen supply control unit 100 composed of a discharge control pipe 130 to adjust and discharge; A core 210 installed in the center and the front portion, a cleaning device 220 installed on the outer circumference of the center of the core 210, a search device 230 installed inside the center of the core 210, Smart pig 200 composed of a driving module 240 installed in the rear part of the center of the core 210; The second body 310 into which the smart pig 200 is put into the conduit at the top of one side of the washing pipe, the inlet opening and closing device 320 installed in the opening of the second body 310, and the second body 310 ) Nitrogen input installed in the inlet opening and closing device 320 to inject compressed nitrogen into the second body 310 connected to the fourth pressure measuring system 330 installed inside and the discharge control pipe 130 A pig inlet 300 composed of a pipe 340; A second flow meter 410 installed on one side of the discharge flow path, a speed meter 420 installed at the rear of the second flow meter 410, and a retractable saddle device installed at the rear of the speed meter 420 A discharge port 400 composed of a 430, a wireless repeater 440 installed in the open and close saddle device 430, and a discharge switch 450 installed at the rear of the open and close saddle device 430; And an integrated database 510 that analyzes and processes data received from the exploration device 230, and an autonomous steering system 520 that autonomously drives the smart pig 200 in conjunction with the integrated database 510 is built. A control unit 500 in which a main computer is installed to control the entire pigging process;

That is, nitrogen is 78% distributed in the air, and it is a non-flammable, environmentally friendly gas that is harmless to the human body below a certain concentration.

The nitrogen supply control unit 100 serves to safely and stably use compressed nitrogen of less than 10 kgf / cm 2 as a driving force of the smart pig 200 with low pressure nitrogen.

On one side of the nitrogen collection pipe 110, a first pressure measuring instrument 111, a first pressure regulator 112, and an automatic opening/closing device 113 including a pressure sensor are installed in a row at regular intervals.

That is, the nitrogen collection pipe 110 is connected to the plurality of nitrogen cylinders 110a to collect the prepared compressed nitrogen, or in parallel with this, a liquid nitrogen vaporizer (not shown) is compressed to prepare and collect compressed nitrogen on site. Depending on the supply conditions of nitrogen, a plurality of nitrogen cylinders 110a and liquid nitrogen vaporizers (not shown) are connected in parallel to each other in a series-parallel-sequential manner.

The first pressure gauge 111 is installed in each of the nitrogen collecting pipes 110 and serves to measure the pressure.

The first pressure regulating device 112 is installed in each of the nitrogen collecting pipes 110 and serves to reinforce the safety of the nitrogen supply control unit 100 as a whole.

The automatic opening/closing device 113 including the pressure sensor is installed in each of the nitrogen collecting pipes 110, and the compressed nitrogen collected in the plurality of nitrogen collecting pipes 110 is transferred to the collection control tank 120 according to the pressure setting. It plays the role of facilitating the continuity of nitrogen supply as it is discharged automatically in sequence.

The collection control tank 120 includes a first body 121 connected to the plurality of nitrogen collection pipes 110 to receive and store compressed nitrogen adjusted to a medium pressure of 50 kgf/cm2 or less, and the first body 121 ) and a second pressure measuring instrument 122 installed on one side of the upper portion of the body to measure the pressure, and a safety valve 123 installed on one side of the upper portion of the first body 121 to automatically adjust the pressure when excess pressure is generated. there is.

On one side of the discharge control pipe 130, a third pressure measuring instrument 131 is connected to the self-regulation system 520 to discharge while controlling the flow rate of compressed nitrogen passing through the discharge control pipe 130, and 2 The pressure regulator 132, the first flow meter 133, and the flow regulator 134 including the sensor are installed in a row at regular intervals.

That is, the discharge control pipe 130 is linked with the flow control device 134 and the self-regulation system 520 of the controller 500 to adjust the running speed of the smart pig 200 according to the pipe condition. It commands flow rate supply control and plays a role in adjusting the nitrogen supply flow rate.

The central and front portions of the core 210 are preferably composed of high-elasticity and high-density foam in a cylindrical shape or a hemispherical shape.

The washing device 220 is preferably composed of a plurality of washing discs 221 formed of disc foam to be installed on the outer circumference of the core 210 and run.

The exploration device 230 includes a pipeline measurement module 231 installed at the center of the front part of the core 210 to measure and photograph the pipeline state, and the pipeline measurement module ( 231) installed at the rear to measure the position of the smart pig 200, and a magnetic position measuring module 232 installed in the center of the front-side washing disc 221 among the plurality of washing discs 221 to obtain data A communication module 233 for converting , a storage module 234 installed in the center of the middle side washing disk 221 among the plurality of washing disks 221 to store data, and the plurality of washing disks 221 A power module 235 installed in the center of the middle rear cleaning disk 221 to supply power, and installed inside the core 210 to include the pipeline measurement module 231, the magnetic position measurement module 232, The housing 236 that surrounds and protects the communication module 233, the storage module 234, and the power module 235, and is installed to pass through the inner center of the core 210, and the pipe measurement module 231 , a magnetic position measuring module 232, a communication module 233, a storage module 234, a power module 235, and a connection part 237 connecting the driving module 240.

The pipe measurement module 231 is preferably composed of a plurality of LIDAR sensors and video cameras.

Here, the lidar sensor that measures the pipe wall surface measures the pipe condition such as damage, corrosion, and attachments in units of a certain distance by measuring the inner diameter of the pipe while sending out a laser and receiving a reflected laser, and the smart pig (200 ) It serves to measure the distance and direction to the target object in the front with a 3D model.

The video camera serves to provide video data by photographing the pipeline state in front of the smart pig 200.

That is, the pipe measurement module 231 uses a plurality of LIDAR sensors to explore the pipe state in units of a certain distance, and determines the shape of the front bend and protrusion through which the smart pig 200 travels and the distance to the subject. recognition, and the exploration data and image data are transmitted to the autonomous control system 520, and the speed is adjusted to minimize the flow shock caused by a frontal collision, and a certain distance is based on a change in the speed of the smart pig 200 according to autonomous driving. It plays a role in exploring the pipeline.

Preferably, the magnetic position measurement module 232 includes a gyro sensor, an acceleration sensor, and a pulse transmission device.

That is, the magnetic position measurement module 232 is a gyro sensor, an acceleration sensor, and a pulse transmission device to determine the inclination and movement distance of the smart pig 200 moving inside the conduit, and the smart pig 200 moving in the conduit. While continuously initializing the three-dimensional location data of the smart pig 200 by measuring acceleration, etc., it is provided to create a digital map of the water pipe buried underground, and GPS coordinates around the pig inlet 300 of the washing pipe While setting, the current location of the smart pig 200 is tracked in conjunction with the GPS coordinates, and the mapping of the water supply pipe buried underground and the smart pig 200 by linking the coordinates and the three-dimensional location data of the moving smart pig 200 Measures the location of the site and transmits a pulse signal at regular intervals in preparation for accidents such as the loss of the smart pig 200 moving in the pipeline to track the location of the smart pig 200 with a double safety system. do.

The communication module 233 converts the exploration data measured by the exploration device 230 and transmits them to the main computer of the controller 500 and the storage module 234 through the wireless repeater 440, respectively. As such, it is configured to be transmitted to a double safety system in preparation for loss of data due to movement impact of the smart pig 200.

That is, the communication module 233 transmits exploration data to the main computer of the control unit 500 through the wireless repeater 440 so as to carry out pigging while monitoring the pipe condition in real time at the site, and to the main computer. In preparation for loss of data to be transmitted, the exploration data is transmitted to the storage module 234 of the smart pig 200, and it serves to safely manage measurement data to build an integrated database 510 after pigging.

The housing 236 provides a space in which the hardware of the search device 230 is mounted, and the pipeline measurement module 231, the magnetic position measurement module 232, the communication module 233, the storage module 234, and power It is preferable that the module 235 is made of highly resilient and high-density foam so as to be protected from external impact.

The connecting portion 237 is preferably made of a flexible and strong carbon fiber material.

The drive module 240 is preferably composed of a disc-shaped high-elasticity and high-density foam at the rear of the core 210 .

The center of the rear end of the driving module 240 is formed concavely into the smart pig 200 to correspond to the compressed nitrogen injected into the rear of the smart pig 200, and compressed into the rear of the smart pig 200. It is characterized in that the driving pressure measuring unit 241 for measuring the pressure of nitrogen is installed.

That is, the drive module 240 is installed in the smart pig 200 so as to be driven by the pressure and energy of the compressed nitrogen injected into the nitrogen injection pipe 340, while the injected compressed nitrogen moves inside the pipe. The concave shape is formed so that the speed of the central part moving faster than the gas speed of the conduit wall boundary part corresponds to the central part of the rear surface of the drive module 240 .

The control unit 500 is An integrated database 510 is built in the main computer, and the nitrogen supply control unit 100 and the smart pig 200, the pig inlet 300 and the discharge port 400 are connected to each device for controlling the nitrogen supply flow rate An autonomous control system 520 is built to detect the state and distance of attachments such as scales and bends appearing in front of the smart pig 200, and command the nitrogen supply control unit 100 to adjust the nitrogen supply to make the smart pig 200 smart. While controlling the pressure applied to the pig 200, the speed of the smart pig 200 is controlled within a designated speed range to autonomously drive the smart pig 200, and is configured to control the entire pigging process.

That is, the control unit 500 determines the state and distance of the boundary target when an attachment such as a scale, a curved pipe portion, and a branch pipe transition portion are detected in front of the conduit along which the smart pig 200 moves, so as to travel at low speed. Nitrogen supply control unit 100 is commanded to control nitrogen supply to prevent damage to the pipeline and accidents of the pig, and after the situation is over, run again at normal speed to autonomously control the running speed of the smart pig 200 according to the pipeline condition. play a role in making

Referring to FIG. 6, the following is smart pipe network management using low pressure nitrogen and navigation pigs of the present invention The pigging method sets the reference pressure of low-pressure nitrogen in conjunction with the self-regulation system 520 of the controller 500 so that low-pressure nitrogen of less than 10 kgf / cm 2 used as the driving force of the smart pig 200 is stably supplied, An autonomous driving control step of setting the autonomous driving range of the smart pig 200 in the pipeline according to the pipe diameter and pipe condition by setting the flow rate input control range so that the speed of the smart pig 200 is autonomously adjusted according to the pipe condition ( S1); A smart pigging step (S2) of preparing a smart map for navigation by receiving exploration data and images in real time and monitoring the pipe condition in real time, conducting exploration and basic cleaning of the pipe through autonomous driving of the smart pig 200; After the smart pigging step, while driving the smart pig 200 using the navigation, mixing with the mixing pressure of washing water and nitrogen with the driving force of the smart pig 200 to perform re-exploration and washing of the pipeline or secondary pigging of the customs pipe A nitrogen swap pigging step (S3) of pigging a pipeline while driving the smart pig 200 using flow; After the nitrogen swap-pigging step, the mixing pressure of the washing water and nitrogen flowing through the pipe flowing through the pipe is adjusted to a low pressure of less than 10 kgf / cm 2 to remove the sediment remaining inside the water pipe by the mixed flow generated by introducing nitrogen into the washing water A nitrogen pulsating current washing step (S4) of performing a tertiary pipe cleaning while introducing; and a cleaning evaluation step (S5) of analyzing the discharged water and discharged substances of the smart pigging step, the nitrogen swap pigging step, and the nitrogen pulsating current washing step, and evaluating the pipe condition to determine whether to start or end the cleaning; Pipeline analysis step of preparing to build an integrated database 510 of the control unit 500 by analyzing the data received in the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step to evaluate the state of the pipe line ( S6);

That is, in the autonomous driving control step (S1), the reference pressure of the low-pressure nitrogen moved by the driving force of the smart pig 200 is set in conjunction with the autonomous control system 520, and the nitrogen flow rate and pipe Set the autonomous driving range so that the speed of the smart pig 200 is controlled in the pipeline in relation to the pressure and pipeline exploration data, and the moving speed of the smart pig 200 is image diagnosis within a range without damage to the pipeline. It is set to the optimum speed for, but the moving speed of the smart pig 200 is set to 2 m / s or less so that there is no damage to the pipe in the weak part of the pipe according to the pipe condition.

In the smart pigging step (S2), the data and images of the exploration device 230 explored while moving the smart pig 200 autonomously in the pipeline are transmitted to the integrated database 510 to check the pipeline status in real time, Detects the distance and state of the smart pig 200 traveling on the pipe and the bend, attachment, and weak pipe part, and controls the running speed of the smart pig 200 in conjunction with the self-regulation system 520 while controlling the pipe to conduct the first pigging, which explores and cleans It is made to prepare a smart map for navigation by precisely grasping the deposition state and location of bends and attachments.

The nitrogen swap pigging step (S3) uses the mixed pressure and mixed flow of washing water and nitrogen as a driving force for the movement of the smart pig 200, and uses the navigation provided after the first pigging to move the smart pig 200 The cleaning device 220 of the smart pig 200 is attached to the soft and hard attachments in the pipe so that the second pigging is performed to re-measure the pipe condition while removing the attachment remaining on the pipe after the first pigging. And according to the condition of the pipe, the size and strength suitable for the pipe swap are selected to separate the cleaning and customs of the pipe, and the frictional force generated while the smart pig 200 travels in close contact with the pipe wall and the rear of the smart pig 200 It is made to wash and clean the pipeline with the frictional force generated by the mixed flow of washing water and nitrogen.

In the nitrogen pulsating current washing step (S4), the pressure is measured while the flow rate of the washing water flowing through the pipe is 50% or less of the pipe, and then the mixed pressure of the washing water and nitrogen is set to nitrogen at a pressure of less than 10 kgf / cm 2 in a general metal pipe. Initiate injection, start at less than 7kgf/cm2 in the hard resin pipe, measure the flow rate and discharge speed of the washing water discharged from the discharge part, and adjust the mixing pressure and flow rate of the washing water and low pressure nitrogen according to the pipe condition After nitrogen swap pigging, the third pipe cleaning is performed to remove the sediment remaining in the pipe with a mixed flow of washing water and low pressure nitrogen.

In the cleaning evaluation step (S5), the smart pigging step, the nitrogen swap pigging step, and the nitrogen pulsation step are performed according to the analysis of the discharged water and the discharged material and the evaluation of the pipe condition in the smart pigging step, the nitrogen swap pigging step, and the nitrogen pulsating current washing step. It is configured to determine the start and end of the flow cleaning step, and to determine the treatment method of the discharged water and discharged material.

That is, the start and end of each cleaning step can be completed when the analysis of the discharged water and the discharged material and the pipe condition are evaluated within the cleaning evaluation criteria after the cleaning of the nitrogen swap pigging step (S3) and the smart pigging step (S2). And, if it is not evaluated within the cleaning evaluation criteria even after the nitrogen pulsating flow cleaning step (S4), the washing in each step is selected and repeated.

In the pipeline analysis step (S6), through the integrated database 510 of the control unit 500 and the data of the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step, corrosion of the pipe and pipe damage due to attachments Analyzes the thickness change of the tube body in real time, predicts the proper cycle of cleaning, predicts the life of the pipeline, and prepares to build the integrated database 510 for leak detection, and discharge switchgear 450 when leak is detected due to pipeline damage After the discharge passage is closed, low-pressure nitrogen is injected into the pipe to maintain the pipe pressure at a constant pressure and determine the rate at which the holding pressure decreases to diagnose leaks and pipe damage.

That is, the pipeline buried underground is mapped while analyzing the pipe condition and thickness change of the pipe body through the data received from the exploration device 230, and when the corrosion depth ratio of the pipe body is analyzed to be 35% or more, the pipe life It is determined whether or not to retest to predict, and when a leak is detected in pipeline exploration or a leak is suspected in flow rate analysis, the leak is diagnosed through pipeline analysis and pipeline pressure maintenance test using low pressure nitrogen.

On the other hand, the present invention is not limited to the above-described embodiments, but can be practiced with modifications and variations within the scope of the present invention, and the technical ideas to which such modifications and variations have been applied also fall within the scope of the following claims. Must see.

100: nitrogen supply control unit
110: nitrogen collection pipe 110a: nitrogen cylinder
111: first pressure measuring system 112: first pressure regulator
113: automatic switchgear 120: collective control tank
121: first body 122: second pressure measuring system
123: safety valve 130: discharge control pipe
131: third pressure measuring system 132: second pressure regulator
133: first flow meter 134: flow control device
200: smart pig 210: core
220: washing device 221: washing disk
230: exploration device 231: pipe measurement module
232: self-positioning module 233: communication module
234: storage module 235: power module
236: housing 237: connection
240: driving module 241: driving pressure measuring unit
300: pig inlet 310: second body
320: inlet opening and closing device 330: fourth pressure measuring system
340: nitrogen inlet pipe 400: discharge port
410: second flow meter 420: speed meter
430: retractable saddle device 440: wireless relay device
450: discharge switchgear 500: control unit
510: integrated database 520: self-regulation system

Claims (19)

A plurality of nitrogen collection pipes 110 to which a plurality of nitrogen cylinders 110a are connected to collect compressed nitrogen, a collection control tank 120 to which a plurality of nitrogen collection pipes 110 are connected, and the collection control tank 120 A nitrogen supply control unit 100 composed of a discharge control pipe 130 connected to and discharging compressed nitrogen at a low pressure of less than 10 kgf / cm 2;
A core 210 installed in the center and the front portion, a cleaning device 220 installed on the outer circumference of the center of the core 210, a search device 230 installed inside the center of the core 210, Smart pig 200 composed of a drive module 240 installed in the rear part of the center of the core 210;
The second body 310 into which the smart pig 200 is put into the conduit at the top of one side of the washing pipe, the inlet opening and closing device 320 installed in the opening of the second body 310, and the second body 310 ) Nitrogen input installed in the inlet opening and closing device 320 to inject compressed nitrogen into the second body 310 connected to the fourth pressure measuring system 330 installed inside and the discharge control pipe 130 A pig inlet 300 composed of a pipe 340;
A second flow meter 410 installed on one side of the discharge flow path, a speed meter 420 installed at the rear of the second flow meter 410, and a retractable saddle device installed at the rear of the speed meter 420 A discharge port 400 composed of a 430, a wireless repeater 440 installed in the open and close saddle device 430, and a discharge switch 450 installed at the rear of the open and close saddle device 430; and
An integrated database 510 that analyzes and processes data received from the exploration device 230 and an autonomous control system 520 that autonomously drives the smart pig 200 in conjunction with the integrated database 510 are built. A navigation pigging device for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that it includes; The method of claim 1,
On one side of the nitrogen collecting pipe 110, a first pressure measuring instrument 111, a first pressure regulator 112, and an automatic opening/closing device 113 including a pressure sensor are installed in a row at regular intervals. A navigation pigging device for integrated pipe network management using low-pressure nitrogen and autonomous driving. The method of claim 1,
The set control tank 120,
A first body 121 connected to the plurality of nitrogen collecting pipes 110 to receive and store compressed nitrogen adjusted to a medium pressure of 50 kgf / cm 2 or less;
A second pressure gauge 122 installed on one side of the upper portion of the first body 121 to measure pressure;
Navigation pigging device for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that it includes a safety valve 123 installed on one side of the upper part of the first body 121 to automatically control the pressure when excess pressure occurs. The method of claim 1,
On one side of the discharge control pipe 130, a third pressure measuring instrument 131 is connected to the self-regulation system 520 to discharge while controlling the flow rate of compressed nitrogen passing through the discharge control pipe 130, and 2 Integrated pipe network using low pressure nitrogen and autonomous driving, characterized in that the pressure regulator 132, the first flow meter 133, and the flow regulator 134 including the sensor are installed in a row at regular intervals Management's navigation pigging device. The method of claim 1,
Navigation pigging device for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that the center and front part of the core 210 are composed of high elasticity and high density foam in a cylindrical shape and a hemispherical shape. The method of claim 1,
The washing device 220 is installed on the outer periphery of the core 210 and is composed of a plurality of washing disks 221 formed of disk foam to drive Navigation piggy of integrated pipe network management using low pressure nitrogen and autonomous driving Device. The method of claim 6,
The exploration device 230,
A pipe measurement module 231 installed in the center of the front part of the core 210 to measure and photograph the pipe state;
A magnetic position measuring module 232 installed at the rear of the pipe line measuring module 231 with respect to the inner center of the core 210 to measure the magnetic position of the smart pig 200;
A communication module 233 installed in the center of the front-side washing disk 221 among the plurality of washing disks 221 to convert data;
A storage module 234 installed in the center of the middle side washing disk 221 among the plurality of washing disks 221 to store data,
A power module 235 installed in the center of the rear side washing disk 221 among the plurality of washing disks 221 to supply power,
Installed inside the core 210 to protect the circumferences of the pipeline measurement module 231, the magnetic position measurement module 232, the communication module 233, the storage module 234, and the power module 235 housing 236;
Installed to pass through the inner center of the core 210, the pipeline measurement module 231, magnetic position measurement module 232, communication module 233, storage module 234, power module 235, drive module ( 240), a navigation pigging device for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that it includes a connection part 237 connecting the two. The method of claim 7,
The pipe measurement module 231 is a navigation pigging device for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that it consists of a plurality of lidar sensors and video cameras. The method of claim 7,
The self-positioning module 232 is a navigation pigging device for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that it consists of a gyro sensor, an acceleration sensor, and a pulse transmission device. The method of claim 7,
The communication module 233 converts the exploration data measured by the exploration device 230 and transmits them to the main computer of the controller 500 and the storage module 234 through the wireless repeater 440, respectively. Navigation pigging device for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that. The method of claim 7,
The housing 236 is
The pipeline measurement module 231, the magnetic position measurement module 232, the communication module 233, the storage module 234, and the power module 235 are installed outside while providing a space in which the hardware of the search device 230 is mounted. Navigation pigging device of integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that it is composed of high elasticity and high density foam to be protected from impact. The method of claim 1,
The drive module 240 is installed in the rear part of the core 210 as a disk-shaped high-elasticity and high-density foam,
The center of the rear end of the driving module 240 is formed concavely into the smart pig 200 to correspond to the compressed nitrogen injected into the rear of the smart pig 200, and compressed into the rear of the smart pig 200. A navigation pigging device for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that a driving pressure measuring unit 241 for measuring the pressure of nitrogen is installed. The reference pressure of low-pressure nitrogen is set in conjunction with the self-regulation system 520 of the control unit 500 so that low-pressure nitrogen of less than 10 kgf / cm 2 used as the driving force of the smart pig 200 is stably supplied, and according to the pipe condition An autonomous driving control step (S1) of setting the automatic driving range of the smart pig 200 in the pipeline according to the pipe diameter and pipe condition by setting the flow rate input control range so that the speed of the smart pig 200 is autonomously adjusted;
A smart pigging step (S2) of preparing a smart map for navigation by receiving exploration data and images in real time and monitoring the pipe condition in real time, conducting exploration and basic cleaning of the pipe through autonomous driving of the smart pig 200;
After the smart pigging step, while driving the smart pig 200 using the navigation, mixing with the mixing pressure of washing water and nitrogen with the driving force of the smart pig 200 to perform re-exploration and washing of the pipeline or secondary pigging of the customs pipe A nitrogen swap pigging step (S3) of pigging a pipeline while driving the smart pig 200 using flow;
After the nitrogen swap-pigging step, the mixing pressure of the washing water and nitrogen flowing through the pipe flowing through the pipe is adjusted to a low pressure of less than 10 kgf / cm 2 to remove the sediment remaining inside the water pipe by the mixed flow generated by introducing nitrogen into the washing water A nitrogen pulsating current washing step (S4) of performing a tertiary pipe cleaning while introducing; and
A cleaning evaluation step (S5) of analyzing the discharged water and discharged substances of the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step and evaluating the pipe condition to determine whether to start or end washing;
Pipeline analysis step of preparing to build an integrated database 510 of the control unit 500 by analyzing the data received in the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step to evaluate the state of the pipe line ( S6); Navigation pigging method of integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that it includes. The method of claim 13,
In the autonomous driving control step (S1),
In connection with the self-regulation system 520, the reference pressure of low-pressure nitrogen moved by the driving force of the smart pig 200 is set,
The autonomous driving range is set so that the speed of the smart pig 200 is controlled in the pipeline in relation to the nitrogen flow rate, pipeline pressure, and pipeline exploration data introduced into the pipeline,
The moving speed of the smart pig 200 is set to the optimal speed for image diagnosis within the range of no damage to the pipe, but the moving speed of the smart pig 200 so that there is no damage to the pipe in the weak part of the pipe according to the pipe condition. Navigation pigging method of integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that set to 2 m / s or less. The method of claim 13,
In the smart pigging step (S2),
While moving the smart pig 200 by autonomous driving in the conduit, the conduit state is checked in real time while transmitting the data and images of the exploration device 230 to the integrated database 510,
Detecting the distance and state of the smart pig 200 traveling on the pipe and the bent pipe, attachments and weak pipe parts,
In connection with the self-regulation system 520, the first pigging is performed to explore and clean the pipeline while controlling the driving speed of the smart pig 200. A navigation pigging method for integrated pipe network management using low pressure nitrogen and autonomous driving, characterized by preparing a smart map for navigation by precisely grasping the deposition state and location of bends and attachments. The method of claim 13,
In the nitrogen swap pigging step (S3),
The mixing pressure and mixing flow of washing water and nitrogen are used as the driving force for the movement of the smart pig 200,
The smart pig 200 is moved using the navigation provided after the first pigging,
After the first pigging, the cleaning device 220 of the smart pig 200 performs the second pigging to remeasure the pipe condition while removing the attachments remaining on the pipe, and the soft and hard attachments attached to the pipe and the pipe condition According to the size and strength suitable for the pipe swap, it separates the washing and customs of the pipe,
The frictional force generated while the smart pig 200 travels in close contact with the pipe wall surface and the frictional force generated by the mixed flow of washing water and nitrogen at the rear of the smart pig 200 are used to wash and clean the pipeline with low pressure nitrogen, characterized in that A navigation pigging method for integrated pipe network management using autonomous driving. The method of claim 13,
In the nitrogen pulsating current washing step (S4),
After measuring the pressure while the flow rate of the washing water flowing through the pipe is 50% or less of the pipe, the mixing pressure of the washing water and nitrogen is less than 10 kgf / ㎠ in the general metal pipe.
In hard resin pipes, it starts at less than 7 kgf / cm 2,
While measuring the flow rate and discharge speed of the washing water discharged from the discharge unit, the mixing pressure and flow rate of the washing water and low-pressure nitrogen are adjusted and injected according to the pipe condition,
A navigation pigging method of integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that the tertiary pipe cleaning is performed to remove the sediment remaining in the pipe after nitrogen swap pigging with a mixed flow of washing water and low pressure nitrogen. The method of claim 13,
In the washing evaluation step (S5),
In the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step, the start and end of the smart pigging step, the nitrogen swap pigging step, and the nitrogen pulsating flow washing step are determined according to the analysis of the discharged water and the discharged material and the evaluation of the pipe condition. do,
A navigation pigging method of integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that for determining the treatment method of the discharged water and discharged material. The method of claim 13,
In the pipeline analysis step (S6),
Through the integrated database 510 of the control unit 500 and the data of the smart pigging step, nitrogen swap pigging step, and nitrogen pulsating current washing step, pipe corrosion and attachments of the pipe pipe damage and thickness change of the pipe body are analyzed in real time, ,
Preparing to build the integrated database 510 for predicting the proper cycle of washing, predicting the life of the pipeline, and detecting leaks,
If leakage is detected due to pipeline damage, after closing the discharge passage with the discharge switchgear 450, low-pressure nitrogen is injected into the pipeline to maintain the pipeline pressure at a constant pressure and determine the rate at which the holding pressure decreases to determine whether or not there is leakage and A navigation pigging method of integrated pipe network management using low pressure nitrogen and autonomous driving, characterized in that it diagnoses pipeline damage.

Images