RU2571242C1 - Self-contained adaptively walking robot for diagnosis of gas pipelines - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: robot is in the form of an aerodynamic body with a propeller, which is configured to be placed inside a gas pipeline, on the surface of which there is a displacement node in the form of at least three discs. Each disc is fitted with at least three attachment lugs, each attachment lug being turned 120° relative to the other and capable of being supported by the all of the gas pipeline. The first and third discs are rigidly mounted at the ends of the aerodynamic body and the second disc is capable of moving. The second disc is fitted with permanent magnets, and the first and third discs are fitted with video cameras. Inside the aerodynamic body there is a displacement unit, a power supply unit, a control unit, a diagnosis unit and a communication unit connected to each other.

EFFECT: high reliability of diagnosis results and reliable operation of the robot.

2 cl, 3 dwg

Description

The solution relates to the field of servicing trunk pipelines and can be used to diagnose the condition of pipelines during their operation.

A device is known according to the patent of the Russian Federation No. 2111453 [1], which is a chain of functional modules with a head conveyor means containing a chassis having a case with carriages? with spring blocks and wheels holding the chassis along the axis of the pipeline, and sealing elements - cuffs - on the outer surface of the housing. The projectile moves in the pipeline under the influence of the pumped product.

The disadvantage of this known apparatus of a flaw detector is that for a qualitative analysis of the state of the walls of the pipeline, a sharp decrease in the pumping speed of the product transported through the pipeline is necessary for the entire duration of the diagnosis, which leads to a delay in the delivered product.

The known method and flaw detector according to the patent of the Russian Federation No. 2109206 [2], comprising two series-connected modules, each of which has a housing with equipment located along the axis of the pipeline, suspension wheel support nodes holding the housing along the pipeline axis, and a transport speed control system funds inside the pipeline. The specified system includes a hydraulic actuator axially reciprocating between the modules located between the modules relative to each other, and each module is equipped with support nodes for fixing its body in the pipeline.

A disadvantage of the known device of the flaw detector-projectile is that the sensitive elements of the flaw detector are located in the gap between the module body and the pipe wall and are exposed to the flow of the transported product, which leads to additional power loads on them and affects the quality of diagnostics.

The closest known technical solutions (prototype) is an in-tube conveyor according to RF patent No. 2069288 [3], containing a chassis located inside the gas pipe and having an annular body with open ends, suspension nodes that hold the chassis along the axis and sealing elements on the outer surface an annular body forming an unpressurized annular compartment for equipment, an energy supply unit fixed to the base and interacting with the walls of the pipeline, a diagnostic unit? equipped with a pipe for passing the product transported through the pipeline, which can be blocked by a signal from the control unit depending on the situation in the pipeline, a control unit to the input of which a speed sensor is connected.

During the diagnosis of the main pipeline, the transported product is passed through the flow part of the annular body.

The disadvantage of the in-tube transport means is that the device uses sealing elements on the outer surface of the annular body and an unpressurized annular compartment for equipment that are exposed to the flow of the transported product, which leads to additional power loads on them, affects the condition of the equipment, and leads to poor quality and reliability of diagnostic results.

The task to which the claimed solution is directed is to create a sealed, in-tube conveying means with an adjustable speed of movement to diagnose the condition of trunk, for example, deformed pipelines during their operation without reducing the productivity of the pipeline.

The technical result is to increase the reliability of diagnostic results and reliable operation of an autonomous adaptive walking robot.

The technical result is achieved by the fact that the device located inside the gas pipeline pipe consists of a moving unit, an energy supply unit, a diagnostic unit, a control unit and a communication unit, and the device is made in the form of an aerodynamic body with a propeller at one end, and placed on the body a displacement unit consisting of three washers, on each of which at least three suspension units of the support blocks are rotated 120 degrees relative to each other, each of the suspension units is equipped with movable support blocks, installed with the possibility of abutment in the walls of the gas pipe, the first and third washers are rigidly fixed at the ends of the aerodynamic body, and the second is mounted with the ability to move along it, the second washer fixed permanent magnets that interact with the magnetic field of the solenoid located inside the aerodynamic body, on the first and the third washer, video cameras with illuminators or ultrasonic diagnostic devices are installed, an energy supply unit, a diagnostic unit, bl ok control and communication unit, the first output of which is connected to the second input of the control unit, the second output of which is connected to the first input of the displacement unit, the second input of which is connected to the second output of the power supply unit, the second input of which is connected to the third output of the control unit, the third input of which is connected with the second output of the diagnostic unit, the second input of which is connected to the second output of the communication unit, the second input of which is connected to the fourth output of the control unit, the fourth input of which is connected to the second output the casing of the moving unit, and the power supply unit is connected to the propeller, and the communication unit is wireless.

The technical result is achieved due to the fact that the displacement unit is made in such a way that it becomes possible to adapt to deformations of the gas pipe being diagnosed, using support blocks as a magnetic spring, and to move stepwise in the stream of the transported product. Autonomy of the robot is achieved by generating energy from a gas stream.

The analysis of the prior art by the applicant has established that there are no analogues that are characterized by a combination of identical features of the proposed solution. Therefore, the device meets the criterion of "novelty."

The essence of the proposed solution is illustrated by drawings, where:

figure 1 shows the design of the proposed device, figure 2 is a supporting block, figure 3 is a functional diagram of the connection of the blocks inside the aerodynamic body, and the following notation:

1. Aerodynamic body

2. Gas pipe

3. Propeller

4. Displacement node

5. Washers

6. 1st washer

7. 3rd washer

8. Camcorders

9. Suspension assembly

10. Support block

11.2nd washer

12. The aerodynamic body solenoid

12a. Suspension assembly solenoid

13. Permanent magnets

14. The block movement

15. Power supply unit

16. The control unit

17. Diagnostic unit

18. Communication unit

Autonomous adaptive walking robot 1 is located inside the gas pipe 2. At one end of robot 1, a propeller 3 is installed, and on the surface of the robot there is a displacement unit 4 made in the form of at least 3 washers 5, video cameras 8 are installed on the first 6 and third washer 7 , at least 3 suspension units 9 are fixed on each washer. Each suspension unit 9 consists of movable support blocks 10 mounted with the possibility of abutment against the walls of the gas pipe 2 and deployed 120 ° relative to each other. The first 6 and third 7 washers are rigidly fixed at the ends of the robot 1, and the second movable washer 11 is mounted with the possibility of movement along it. Inside the robot 1 is placed a solenoid 12, which through a magnetic field interacts with a movable washer 11, in which permanent magnets are placed. It should be noted that there are several solenoids in the robot, one solenoid 12 is located inside the robot (Fig. 1, 2), other solenoids are located in the suspension units of the support blocks (Fig. 4) under number 12a, they are used to retract the support blocks at the command of the block management. Inside the robot 1 (Fig. 5) are placed sequentially connected moving unit 14, power supply unit 15, control unit 16, diagnostic unit 17, communication unit 18, the first output of which is connected to the second input of the control unit 16, the second output of which is connected to the first input of the unit movement 14, the second input of which is connected to the second output of the power supply unit 15, the second input of which is connected to the third output of the control unit 16, the third input of which is connected to the second output of the diagnostic unit 17, the second input of which is connected to the second the output of the communication unit 18, the third input and the third output are connected to the control center (not shown), the second input of the communication unit 18 is connected to the fourth output of the control unit 16, the fourth input of which is connected to the second output of the displacement unit 18. The power supply unit is connected to propeller 3.

The design of the blocks used in the proposed autonomous adaptive walking robot for gas pipeline diagnostics is standard.

The power supply unit 15 consists of standard units, for example, from a Siemens wind turbine, an electric generator, a transformer, a rectifier and a stabilizer.

The control unit 16 is made in the form of a standard state machine.

The diagnostic unit 17 is made on standard webcams with semiconductor diodes for lighting, and images from video cameras are processed in a standard image analysis unit.

The communication unit 18 is made of standard Wi-Fi blocks from Motorola and provides communication with the operator (4).

The device operates as follows.

From the control center from the operator receives a signal through the communication unit 18 to the control unit 16 to move the robot. The control unit 16 sends a signal to the power supply unit 15 and the displacement unit 14, from which there are commands for actions:

1 - the propeller 3 rotates and generates electricity, which is supplied to the solenoid 12. The suspension unit 9 with the supporting blocks 10, the first 6 and the third washer 7 are retracted;

2 - the aerodynamic body 1 is pulled through the second washer 11, the permanent magnets interact with the solenoid 12. This movement stops as soon as the third washer 7 contacts the second movable washer 11. In this case, the signal is supplied to the displacement unit 14.

3 - preparation for the 2nd step. When a signal is supplied from the displacement unit 14, the suspension unit 9 of the first 6 and the third washer 7 abuts against the walls of the gas pipe by the support blocks 10, and the suspension unit 9 of the support blocks 10 of the second washer 11 is drawn due to the signal from the displacement unit 14 and interaction with the permanent magnets 13. After that, a signal is sent to move the second washer 11 from the moving block 14 forward until it contacts the first washer 6, after which the suspension unit 9 of the supporting blocks 10 of the second washer 11 abuts against the walls of the gas pipe 2.

4 - the suspension unit 9 of the support blocks 10 of the first 6 and the third washer 7 is retracted by the signal of the displacement unit 14, then the robot 1 is pulled through the second washer 11 until the third washer 7 is in contact with the second washer 11. After contact, the suspension nodes 9 of the support blocks 10 of the first 6 and third washers 7 abut against the wall of the pipe 2.

And the cycle repeats.

In FIG. 1 shows the initial position of the robot in the pipe, the support blocks mounted on the washers 6 and 7 abut against the pipe walls, the support blocks of the middle washer 2 are retracted, at the command of the control unit, the washer 2 moves from right to left until it stops, pushes the support blocks 11 all the way into the walls pipes, and the supporting blocks of washers 6 and 7 are retracted, the robot takes the position indicated in FIG. 2. Next, the body of the robot 1 is pulled through the washer 2 until it stops, the support blocks of the washers 1 and 3 extend and abut against the pipe walls, and the support blocks of the washer 2 are retracted, and the robot takes the position shown in FIG. 1. A step has been taken, then the cycle of movement is repeated.

Video cameras 8 remove the diagnosed surface of the gas pipe 2 and transmit information to the diagnostic unit 17, where the information is processed for identification

gas pipeline damage. If damage is detected, this information is sent to the control unit 16. The robot stops, and information about the damage from the diagnostic unit 17 is transmitted to the communication unit 18 and transmitted to the operator, who decides on the further movement of the autonomous adaptive walking robot or on a detailed examination of the damage.

When using the proposed robot, the achievement of the technical result is ensured by the "walking" of the robot, because it adapts to the irregularities of the inner surface of the gas pipe, its bends and deformations, which increases the likelihood of detecting gas pipeline defects and reduces the likelihood of accidents and economic losses.

Thus, the above information proves that when implementing the claimed invention, the following conditions are met:

- the proposed robot is intended for use in the energy sector for the diagnosis of gas pipelines;

- for the proposed robot in the form in which it is described in the independent claim, the possibility of its implementation using the means described before the filing date of the application has been confirmed;

- a robot embodying the claimed invention in its implementation, is able to provide the specified technical result.

Therefore, the claimed device meets the criterion of "industrial applicability", the more so as tested the layout of the claimed device.

 Information sources

1. Universal diagnostic projectile-flaw detector for monitoring the condition of the pipeline, RF patent No. 2111453, IPC G01B 17/00, F17D 5/00, F16L 57/00, publ. 05/20/1998.

2. The method of in-line flaw detection and flaw detector for its implementation, RF patent No. 2109206, IPC F17D 5/00, VB 9/04, publ. 04/20/1998.

3. In-tube transportation means, patent of the Russian Federation No. 2069288, F17D 5/02, publ. 11/20/1996.

4. Algorithms for controlling robotic manipulators / MB Ignatiev, FM Kulakov, A.M. Pokrovsky. St. Petersburg: Engineering, 1977, 248 p.

Claims (2)

1. Autonomous adaptive walking robot for the diagnosis of gas pipelines, comprising a displacement unit, a control unit, a displacement unit, an energy supply unit, a communication unit and a diagnostic unit, characterized in that it is made in the form of an aerodynamic body with a propeller, configured to locate the diagnosed gas pipeline inside the pipe , on the surface of which there is a displacement unit made in the form of at least three washers, at least three suspension units are fixed on each washer, each suspension unit is deployed 120 ° r relative to each other, it is installed with the possibility of abutment in the walls of the gas pipe, the first and third washers are rigidly fixed at the ends of the aerodynamic body, and the second is mounted with the ability to move, permanent magnets are fixed on the second washer, and video cameras are installed on the first and third, while inside the aerodynamic of the body are located the connected displacement unit, power supply unit, control unit, diagnostics unit and communication unit, the first output of which is connected to the second input of the control unit, the second output of which connected to the first input of the displacement unit, the second input of which is connected to the second output of the power supply unit, the second input of which is connected to the third output of the control unit, the third input of which is connected to the second output of the diagnostic unit, the second input of which is connected to the second output of the communication unit, the second input of the unit communication is connected to the fourth output of the control unit, the fourth input of which is connected to the second output of the displacement unit, and the power supply unit is connected to the propeller. 2. Autonomous adaptive walking robot for the diagnosis of gas pipelines according to claim 1, characterized in that the communication unit is wireless.

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