UA40855C2 - System of pipelines tele-inspection - Google Patents

Abstract

A system for teleinspection of pipelines has a self-propelled diagnostic robot in a hermetic housing, comprising of light units, color video-camera, this is installed in its main part, on the turret, and optically connected to zoom lens power unit, video amplifier, cable, control block, block of end switches, and unit for control, power supply and for visualizing the information obtained, this comprises of video-player, set of accumulators, sign-generator, color TV-set, the TV-set power unit, portable computer, power block for the diagnostics robot, path sensor, cable, build-in multi-channel electric collector and hoist. The hoist has chassis, where in one axis, one behind another, are installed the cable console hoist and the rope hoist, and in front of the cable hoist manual pantographic rope-packer is installed. To the self-propelled diagnostic robot are included inclination sensor, pantograph, this is installed on self-propelled chassis and holds the turret, the drives of the color video-camera, turret, pantograph, block for control of video-camera, turret, pantograph, drives of the left and the right sides of the self-propelled diagnostic robot and the unit for controlling the drives of the left and the right side and controlling. This system provides increase of functionality and increase of reliability.

Description

Description of the invention

The invention relates to sewage and water supply, namely, to pipes and pipelines of general 2 purpose and can be used to detect defects on the inner surface of pipelines.

Pipeline inspection apparatus |1) is known, containing an optical part connected to a television camera controlled by an electronic part, and the optical and electronic parts are separated but connected by a bent part for moving the television camera along the pipeline following its bends.

The disadvantages of the equipment include the lack of lighting, which does not provide adequate visibility, the difficulty of identifying the appearance and extent of the pipeline wall defect due to the fact that the television camera has a black-and-white image, the inability to overcome obstacles in the pipeline, limited camera inspection, lack of condition diagnosis of the cart itself, the possibility of obtaining an enlarged image of a separate defect, stabilization of supply voltages in the cart, compensation of the video signal of the camera and control of the operating condition of the cart.

A known device for the internal inspection of pipelines (2) comprising a carriage with a rotatably mounted housing 79 encompassing a camera in which an additional load is placed to hold the camera in a vertical position, a lighting device mounted on the front end of the carriage and a power supply , located at its rear end and connected to a power cable fixed on a traction cable that pulls the device through the pipeline, a monitor that receives signals from the camera.

The disadvantages of the mentioned device are that it is not self-propelled, which makes it difficult to overcome obstacles in the pipe, contains a black-and-white image camera, which makes it difficult to identify the appearance and degree of pipeline defects, it is impossible to diagnose the condition of the cart itself, there is no possibility of changing the illumination, which does not provide proper visibility, it is impossible to obtain an enlarged image of a separate defect, there is no stabilization of supply voltages in the cart, compensation of the video signal in the camera, and control of the working condition of the cart.

A well-known pipe control system |Z), which includes a probe with a video camera, lighting lamps and 29 signal conversion devices, a parachute, a cable combined with an optical fiber cable, a mechanical device (3 inputs, connected to a hydraulic pump through an input control device and connected to a control device connected to a video recorder, a monitor and a path sensor. The disadvantages of the specified system are as follows: - application only in pipes of small diameter; - impossibility of application in pipelines with large deposits on the walls; o 30 - small viewing surface due to immobility of the camera: "Down/Up", "Left/Right"; and it is laborious to pull the probe out of the pipe.

The closest to the invention is a device for detecting joints, cracks and other similar defects in water pipes |4|, consisting of a cart with a drive and a video camera installed on it and equipped ((«c3) with an optical system radially oriented relative to the longitudinal axis, a remote drive, which is controlled and allows 3o angular movements of the video camera, the angular rotation sensor of the latter, connected to the indicator, from the aiming module, which allows you to fix its position relative to the object.

The disadvantages of the device include: - lack of ability to overcome obstacles in the pipeline; "- lack of lighting, which does not ensure proper visibility; With 50 - the difficulty of identifying the appearance and extent of the pipeline wall defect due to the fact that the video camera has a black-and-white image; with" - the lack of possibility of obtaining an enlarged image of the defect, determining the angle of inclination of the pipeline, stabilizing the power supply of the cart, changing the installation of the video camera relative to the longitudinal axis of the pipeline, monitoring the working condition of the cart. 45 The task of the invention is to expand the functionality and increase the reliability. shk The task is solved by the fact that in the system of teleinspection of pipelines, which contains a self-propelled av! a diagnostic robot in a hermetic housing, consisting of lighting devices, a color image video camera placed in its main part, on a tower optically connected to a zoom lens, its first entrance

So is connected to the power supply, the first output is connected to the first input of the video amplifier, the second input of the last s 20 is connected to the power supply, and the first output is connected to the cable connected to the first input and the first output of the power supply and the first input and the first output of the control unit, the second outputs of the color sl video camera and the video amplifier are connected to the first common wire, the second output of the control unit is connected to the zoom input, the second input is to the end switch unit, the device for controlling, powering and visualizing the received information, composed of a VCR, the first the input of which is connected to the first input of the battery unit, and the second - to the output of the character generator and the first input of the color TV, the second input

HF) which is connected to the output of the TV power supply unit, and the output is the second input of the signal generator, the third input of the latter is connected to the second output of the battery pack, the third output of which is connected to the first input of the portable computer, and the fourth to the first the input of the power supply unit of the diagnostic robot, the fourth input of the signal generator is connected to the input of the path sensor, the output of the latter is mechanically connected to a cable, the latter is connected to the second input and output of the portable computer, the second input and output of the power supply unit of the diagnostic robot, built-in multi-channel electric collector of the winch and the first input and the first output of the control unit, in accordance with the invention, the winch contains a chassis on which a cable cantilever winch and a cable winch are placed one after the other on one axis, and a manual pantographic cable stacker is installed in front of the cable winch, in a self-propelled diagnostic robot a slope sensor is introduced, the output of which 62 is connected to the third input of the control unit and the input is to the power supply unit, the pantograph installed on the self-propelled chassis and holding the tower, and the motors of the color image video camera, the tower and the pantograph, the first and second through a resistor, the inputs of which are connected to the first and second outputs of the corresponding control units made on the bridge switching circuit, the first input of which, Through a resistor, connected to the second Her

INPUT, the first optocoupler is connected between it and the third input, and the third input of the bridge circuit is connected to the first input of the transistor switch, between the input and output of which the second optocoupler is enabled, and the cathodes of the optocoupler diodes are connected to the first common wire , the emitter of the transistor of the second optocoupler junction - to the second common wire, and the first and second outputs of the switching bridge circuit - to the armature windings of the tower motors, the pantograph and the color 70 image video camera, the second input of the switching bridge circuit and the inputs of the optocoupler junctions are connected with inputs, and the first and second outputs of the bridge switching circuit - with the outputs of the tower control units, color video camera and pantograph, the first inputs of the latter are connected to the power supply unit, and the second and third inputs are connected to the third, fourth, fifth, sixth, seventh and the eighth outputs of the control unit, the third and fourth outputs - to the first and second common wires, respectively, for lamp control, including a multivibrator with pulse gap modulation, the first input of which is connected to the collector of the transistor and the resistor, the first output - to the anode of the optocoupler diode, the collector of the latter transistor is connected to the first input of the semiconductor relay and, through the resistor - with its second input, and the emitter of the transistor, the second output of the multivibrator with a tunable pulse gap, the cathode of the optocoupler diode are connected to the first common wire, and the emitter of the optocoupler transistor, the second output of the 2o semiconductor relay - to the second common wire, the second input of a multivibrator with a tunable pulse gap, its first input, through a resistor, the base of a transistor, the second input of a semiconductor relay - the output of the lamp control unit, and connected by the first and second outputs to the series-connected lamps of the lighting device, by the first and second inputs - to the ninth and the tenth outputs of the control unit, the third and fourth outputs - to the first and second common wires, respectively, the port and starboard engines, the first, second, third and fourth, through a resistor, the inputs of which are connected to the first, second, third and fourth outputs of their control units composed of a bridge switching circuit , the first i) input is connected to the collector of the transistor of the first optocoupler, through a resistor - to its second input and to the second input of the semiconductor relay, which is connected through the resistor to its first input connected to the collector of the transistor of the second optocoupler , the anode of the diode of the latter is connected to the first output of the multivibrator with a tunable pulse gap, its first input is connected to the collector of the transistor and a resistor, and the emitter of the transistor, the second output of the multivibrator with a tunable pulse gap, the cathodes of the diodes of the first and second optocouplers connected to the first common wire, the emitters of the optocoupler transistors, the output of the bridge switching chemistries, the second output of the semiconductor relay - with the second common wire, the second input of the multivibrator with adjustable pulse gap, and its first input through a resistor, the base of the transistor, the anode of the diode of the first optocoupler, the second input of the semiconductor relay appear as inputs, and the first output of the semiconductor relay, the second and third outputs of the bridge switching circuit - the outputs of the port and starboard engine control units, and is connected to the first and second inputs to the power supply unit, the third, fourth and fifth inputs respectively to the eleventh, twelfth, thirteenth, fourteenth, fifteenth and sixteenth output and in the control unit, the device "

The control, which contains a multi-input multiplexer, is connected with the eleventh, twelfth, thirteenth and fourteenth inputs to the emitters of the transistors of the corresponding first, second, third and fourth optocouplers. solution, its fifteenth output is connected to the first output of the voltage stabilizer and the second input and? multivibrator with a tunable pulse gap, the first input of which is connected through the first low-pass filter to the sixteenth input of the multi-input multiplexer, and its output through the fifth optocoupler junction 7 to the first input of the second low-pass filter and through a resistor to the second input of the multivibrator with u5 » adjustable pulse gap, and the collectors of the transistors of the first, second, third and fourth optocouplers, the first input of the voltage stabilizer are connected to the power supply unit, the anodes of the first, second, third, and fourth optocouplers, the emitter of the transistor of the fifth optocoupler ties, the second output of the second

Go! of the low-pass filter are connected to the first common wire, and the emitter of the transistors of the first, second, third and 5p fourth optocouplers, the cathode of the diode of the fifth optocoupler, the second output of the voltage stabilizer and the second output of the first low-pass filter, the output of the multi-input multiplexer - with the second common wire, the first ten inputs of the multi-input multiplexer, the anodes of the diodes of the first, second, third and fourth optocouplers, the first input of the voltage stabilizer appear as inputs, and the first output and the first input, through a resistor, of the second low-pass filter - by the outputs of the control device, connected to the first and second inputs to the power supply unit, by the third, fourth, fifth, sixth inputs - to the seventeenth, eighteenth, nineteenth, twentieth outputs of the control unit, and by the first output - to its fourth entrance, seventh, (F, eighth, ninth entrances - to the fourth entrances of the engines on the left side, tenth, eleventh and twelfth - to the fourth exits of the engine iv on the right side of the diagnostic robot, the thirteenth input - to the first output of the color video camera motor, the fourteenth - to the lighting device, the fifteenth - to the second output of the pantograph engine, and the sixteenth - to the second output of the tower engine, the second and third outputs - to the first and the second general wires, respectively.

The execution of the winch in the form of two winches: a cable cantilever and a cable winch, located on the same axis, one after the other on the chassis, and the installation of the cable cantilever winch of the cable layer at the front made it possible to provide benefits in operation, increase its functionality, and also reduce material consumption. 65 The introduction of the following nodes into the self-propelled diagnostic robot, namely: - slope sensor - made it possible to determine the actual angles of the pipeline along its entire length;

- of a pantograph installed on a self-propelled chassis - place the video camera unit coaxially with the central axis of the pipeline; - motors of the video camera, tower, pantograph with their control units - to carry out diagnostics of the pipeline

In all directions; - control unit for lighting devices - to increase the efficiency and reliability of diagnostics; - engines of the right and left sides with their control units - to ensure the possibility of movement and maneuvering in the pipeline; - control device - to ensure prompt determination of the state of the diagnostic robot. 70 Design solution of the winch, introduction into the self-propelled diagnostic robot of the tilt sensor, pantograph, video camera motors, tower, pantograph with their control units, lighting control unit, starboard and port engines with their control units and control devices, as well as their connections with the scheme of the system as a whole allowed to solve the task: increasing reliability | expansion of functionality.

Figure 1 shows the block diagram of a self-propelled diagnostic robot;

Fig. 2 is a block diagram of the device for control, power supply, visualization of received information;

Fig. 3 shows the electrical diagram of the control unit for the tower, pantograph and color image video camera;

Fig. 4 is an electrical diagram for controlling the engines of the left and right sides of the diagnostic robot;

Fig. 5 - electrical diagram of the control unit for lighting devices (lamps);

Fig. 6 is an electrical diagram of the control device.

The system of teleinspection of pipelines includes a self-propelled diagnostic robot in a sealed housing 1 and a device for controlling, powering and visualizing the received information 2. A self-propelled diagnostic robot in a sealed housing 1 consists of a zoom lens 3, a color video camera 4, a video amplifier 5, a block of limit switches 6, a tilt sensor 7 , the tower engine 8, the tower control unit 9, the control unit of the left side engine 10 of the self-propelled diagnostic robot, the left side engine control unit 11, lighting devices 12, (Ei1, E2 lamps), the lighting device control unit 13, the motor i) of the pantograph 14, pantograph control unit 15, control device 16, control unit 17, color image video camera motor 18, color image video camera control unit 19, starboard motors 20 self-propelled diagnostic robot, starboard motor control unit 21 and unit

Power supply 22. Device for control, power supply and visualization of the received information 2, includes a mechanical unit 23, a path sensor 24, a portable computer 25, a power supply unit for a diagnostic robot 26, a battery unit 27, a power supply unit for a color TV 28, a character generator 29 , home tape recorder 30, color TV 31, with cable 32, safety cable 33, winch 34, assembled from cable console winch 35, cable winch 36, manual drive with ratchet mechanism 37, built-in multi-channel electric collector 38, manual pantographic stacker 39. IS

The control units for the color image video camera 19, the tower 9, the pantograph 15 consist of a bridge circuit 40, a transistor switch 41, a resistor K11, optocouplers M1-K12, M2-K13.

The engine control units of the left 11 and right 21 sides of the self-propelled diagnostic robot 1 contain a multivibrator with adjustable pulse spacing 42, a switching bridge circuit 43, a semiconductor relay 44, optocouplers M3-K15, M5-K17, transistor M4, resistors K14, K16 , K18. The control unit with the lighting devices 13 includes a multivibrator with a tunable Ш, and pulse frequency 45, . semiconductor relay 46, decoupling optocoupler M7-K20, transistor MB, resistors K19, K21. Control device and? consisting of a Zh-158 voltage stabilizer 47, the first low-pass filter 48, a multivibrator with adjustable pulse width 49, the second low-pass filter 50, a multi-input multiplexer 51, five optocouplers U8-K22, M9-K24, M10-K26 , M11-K28, M12-K30, resistors K23, K25, K27, Kk29, K31. The video camera of a color image 4 is optically connected to the zoom lens Z, its first input is connected to the power supply unit 22, the first output is connected to the first input of the video amplifier 5, the second input of the latter is connected to the power supply unit 22, and the first output is connected to the cable 32 , connected to the first input and the first output of the block

Go! power supply 22 and the first input and the first output of the control unit 17, the second outputs of the video camera 4 and 5r of the video amplifier 5 are connected to the first common wire 1 "common 1", the second output of the control unit 17 1 is connected to the zoom input 3, the second input is to block of limit switches 6. sp VCR ZO, the first input is connected to the first output of the battery block 27, and the second - to the output of the sign generator 29 and the first input of the color TV 31, the second input of which is connected to the output of the power supply unit of the color TV 28, and output - with the second input of the signal generator 29, the third input of the latter is connected to the second output of the battery unit 27, the third output of which is connected to the first input of the portable computer 25, and the fourth - to the first input of the power supply unit of the diagnostic robot 26, (F) the fourth input of the signal generator 29 is connected to the input of the path sensor 24, the output of the latter is mechanically connected to the cable 32, the latter is connected to the second input and output of the portable computer 2 5, the output of the power supply unit of the diagnostic robot 26, the built-in multi-channel electric collector of the winch 38 and the first input and the first output of the control unit 17. The tilt sensor 7, the output of which is connected to the third input of the control unit 17, and the input is connected to the power unit 22. Motors of video cameras color image 18, tower 8, pantograph 14, the first and second through the corresponding resistors K1, KZ, K4, the inputs of which are connected to the first and second outputs of the corresponding control units 9, 15, 19, in which the first input of the bridge switching circuit 40, through the resistor K11, connected to its second input, the first optocoupler 65 M1-K12 is connected between it and the third input, and the third input of the bridge switching circuit 40 is connected to the first input of the transistor switch 41, between the input and output of which the second optocoupler is enabled the junction M2-K13, and the cathodes of the diodes of the optocouplers M1-K12, M2-K13 are connected to the first common wire 1 ("common 1"), the emitter of the transistor of the second optocoupler M2-K1 3 - to the second common wire 2 ("common 2m), and the first and second outputs of the bridge switching circuit 40 - to the armature windings of the tower motors 8, pantograph 14 and the color image video camera 18, the second input of the switching bridge circuit 40 and the inputs of the optocoupler connection M1-K12, M2-K13 are connected to the inputs, and the first and second outputs of the bridge switching circuit 40 are connected to the outputs of the tower control units 9, pantograph 15 and color image video camera 18, the first inputs of the latter are connected to the power supply unit 22, and the second and the third inputs - to the third, fourth, fifth, sixth, seventh and eighth outputs of the control unit 17, the third and fourth outputs - to 7/0 of the first 1 ("general 1") and the second 2 ("general 2" ) to the common wires, respectively, in the control unit for lighting devices 13, a multivibrator with adjustable pulse gap 45 is connected to the collector of the MB transistor and resistor K19 by the first input, the first output is to the anode of the MU-K20 optocoupler diode, the transistor collector of the last connection connected to the first input of the semiconductor relay 46 and through the resistor K21 - to its second input, and the emitter of the transistor Mb, the second output of the multivibrator with pulse gap adjustment 45, the cathode of the optocoupler diode M7 - K20 is connected to the first common wire 1 ("general 1"), and the emitter of the optocoupler transistor M7-K20, the second output of the semiconductor relay 46 - to the second common wire 2 ("common 2"), the second input of the multivibrator with a slot-tunable pulse quality 45, its first input Through the resistor K19 , the base of the transistor Mb, the second input of the semiconductor relay 46 are the inputs, and the first output of the semiconductor relay is the output of the control unit for lighting devices 13, and is connected by the first and second outputs to the series-connected lighting devices 12 (lamps ET,E2), the first and the second inputs - to the ninth, tenth outputs of the control unit 17, the third and fourth inputs to the power supply unit 22, the third and fourth outputs - to the first 1 ("general 1") and the second 2 ("general 2") common wires, respectively. The first, second, third and fourth through the resistor K5B-K10, the inputs of which are connected to the first, second, third and fourth outputs of their control units 11,21, the bridge circuit of the switching circuit 43, the first input of which is connected to the collector of the transistor of the first optocoupler joints

U3-K15, through resistor K16 - to its second input and to the second input of semiconductor relay 44, which through i) resistor K18 is connected to its first input connected to the collector of the transistor of the second optocoupler M5-K17, the anode of the diode of the last connected to the first output of the multivibrator with adjustable pulse gap 42, its first input is connected to the collector of transistor M4 and resistor K14, and the emitter of transistor MA, the second output of the multivibrator with adjustable pulse gap 42, the cathodes of the diodes of the first M3-K15 and the second M5 -K17 of the optocouplers are connected to the first common wire 1 ("common 1"), the emitters of the optocoupler transistors M3-K15, M5-K17, the output of the bridge switching circuit 43, the second output of the semiconductor relay 44 - with the second common wire 2 ("common 2"), the second input of the multivibrator with pulse gap adjustment 42, its first input through the resistor K14, the base of the transistor M4, the anode of the diode of the first optocoupler M3-K15, the second input d of the semiconductor relay 44 appear as inputs, and "E is the first output of the semiconductor relay 44, the second and third outputs of the switching bridge circuit 43 are the output of the engine control units of the left 11 and right 21 sides of the self-propelled diagnostic robot 1, and is connected by the first and second inputs to the power supply unit 22, the third, fourth and fifth entrances, respectively - to the eleventh, twelfth, thirteenth, fourteenth, fifteenth and sixteenth exits of the block "

Control 17. In the control device, the multi-input multiplexer 51 is connected with the eleventh, twelfth, thirteenth and fourteenth inputs to the emitters of the transistors of the corresponding first U8-K22, second M9-K24, third M10-K26, fourth M11 - K28 optocouplers, its eleventh entrance is connected to the first exit;" voltage stabilizer 4158 47 and the second input of a multivibrator with adjustable pulse gap 49, the first input of which is connected through the first low-pass filter 48 to the sixteenth input of the multi-input multiplexer 51, and its output through the fifth optocoupler M12-K30 - to the first input of the second their low-pass filter 50 and through the resistor KZ3Z1 - to the second input of the multivibrator with adjustable pulse gap 49, and the transistor collectors of the first M8-K22, the second M9-K24, the third M10-K26, the fourth about M11-K28 optocouplers, the first input voltage stabilizer 4158 47 are connected to the power supply unit 22, about the anodes of the first M8-K22, the second M9-K24, the third M10-K26, the fourth M11-K28 optocoupler junctions, the emitter of the 5r transistor of the fifth M12-KZO optocoupler junction, the second output of the second low-frequency filter 50 is connected to the first common wire 1 ("common 1"), and the emitter of the transistors of the first M8-K22, the second MO-K24, the third M10-K26, and the fourth M11-K28 are optocoupler junctions , the cathode of the diode of the fifth optocoupler M12-K30O, the second output of the voltage stabilizer i-158 47 and the second output of the first low-pass filter 48, the output of the multi-input multiplexer 51 - with the second common wire 2 ("common 2") the first ten inputs of the multi-input dv / of the multiplexer 51, the anodes of the diodes of the first M8-K22, the second M9-K24, the third M10-K26, the fourth M11-K28 of the optocoupler junction, the first input of the voltage stabilizer 4158 47 appear as inputs, and the first output and the first input, through

F) resistor KZ1, the second low-pass filter 50 - through the outputs of the control device 16, connected through the first and second inputs to the power supply unit 22, through the third, fourth, fifth, sixth inputs - to the seventeenth, eighteenth, nineteenth, twentieth outputs of the unit control 17, and the first output - with its fourth br INPUTS, the seventh, eighth, ninth inputs - with the fourth outputs of the engines of the port side 10, the tenth, eleventh and twelfth - with the fourth outputs of the engines of the right side 20 of the self-propelled diagnostic robot 1, the thirteenth input - with the first output of the motor of the color image video camera 18, the fourteenth - with lighting devices 12, the fifteenth - with the second output of the pantograph engine 14, and the sixteenth - with the second output of the tower engine 8, the second and third outputs - with the first 1 ("general 1") and the second 2 65 ("general 2") common wires, respectively.

The system of teleinspection of pipelines includes purchased units, such as: Z-type Mogigea 70Ω zoom

ГЕМ5, block of limit switches b type MT, battery block BA кк 27 is eight batteries 6СТ-132, VCR 30, color TV 31, portable computer 25, motors type МН-145А, and also taken from scientific and technical or patent documentation is: - video amplifier 5 - Analog and digital integrated microcircuits. Under the editorship. S.V. Yakubovsky M.:

Radio communications, 1985, p. 335, fig. 6.61; - control unit 17 - Handbook. Products and components offered by the company "KGC - MK". ATMEG microcontrollers. AMK families; - TV power supply unit 28 and power supply unit 22 - Art of circuit engineering: in 2 volumes, vol. 1, translated from 70 English, ed. C, a stereotype. - Moscow: MIR, 1986, p. 347 fig. 5.41, - sign generator 29 - Amateur television games. Ovichkin M. A..-M. Radio communication, 1985 p. 19, fig. 31; - diagnostic robot power supply unit 26 - Radio electronic equipment power sources,

Handbook, G.S. Knievelt, K.B. Mazel et al., under the editorship. H. S. Nyvelt, - M.: Radio communications, 1986, p. 323, fig. 8.16; -inclination sensor 7 - Author's certificate СРСОРМоО606100, МКИ 01С 9/12, published 07.04. 78, Blvd. Mo17; -bridge switching scheme 40, 43 - Electrical power sources of radio electronic equipment, Handbook, G.S.

Knievelt, K.B. Mazel et al., under the editorship. H.S. Naivelt, - M.: Radio communications, 1986, p. 407, fig. 10.4; - transistor switch 41 - The art of circuit engineering, in 2 volumes, vol. 1, translated from English, ed.

Z-e, stereotype, - M.: MIR, 1986G, p. 91, fig. 2.3; - multivibrator with pulse-slot tuning 45 Microelectronic means of processing analog signals, Colombet E.A. - M.: Radio communications, 1991, p. 206, fig. 7.19; - semiconductor relay 46 - Semiconductor optoelectronic devices; Handbook, V.I. Ivanov, A.,.

Aksyonov, A.M. Yushin, 2nd edition, revised. and added - M.: Energoatomvydav, 1989, p. 365, fig. 10.8; - multi-input multiplexer 51 - Popular digital microcircuits, Handbook, 2nd ed. fixed, - M:

Radio communication, p. 230, fig. 2.28 (Masova radioblioteka, v"p sc 1145), - low-pass filter 48, 50 - The art of circuit engineering, in 2 volumes, vol. 1 translation from English, ed. (8)

Z-e, stereotype, - Moscow: MIR, 1986, p. 58, fig. 1 54; - voltage stabilizer 4158 47 - Practical guide to circuit calculations in electronics, Handbook, in 2 volumes, vol. 1, translated from English, edited by F. N. Pokrovsky, Moscow: Znergoatomvydav, 1991, p. 218, fig. 10.10; yu zo - block of limit switches 6 - Author's certificate of the USSR Mo397754, MKY СО1Д5/З32, published. 17.09. 73, bull.

Mo37 and its dependent author's certificate of the USSR Mo532760, MKY 601D5/32, published. 25.10. 76, Bul. Mo39. at

The system of teleinspection of pipelines works as follows. co

When the diagnostic robot 1 is powered on, the central processing unit (CPU) of the control unit 17 is automatically reset and the initialization routine begins. The initial state of the internal registers and cells of the RAM of the E 17 control unit CPU is set to the initial state, as well as the setting of communication parameters via the serial channel of the K5Z-232S protocol with the personal computer 25 and the initial state of the registers of the control unit 17. After returning from the initialization routine, the execution of the diagnostic routine begins. The CPU of the control unit 17 determines the values of the supply voltages: i58;-158;-128;-158, which are supplied through voltage dividers to the inputs of the multi-channel analog-to-digital converter (ADC) built into the CPU. If the supply voltages are absent or deviate from the specified limits, the CPU of the control unit 17 transmits their values via a serial channel to the personal computer 25 and the described sequence of actions is repeated until the operator makes a decision to turn off the self-propelled;" diagnostic robot 1 and troubleshooting. If the values of the supply voltages are normal, they are memorized in the specified cells of the RAM built into the CPU and the system begins to diagnose the lighting devices (lamps) of the 121 lighting control unit!3. Lighting devices 12 of them are turned on, while a logical zero level is applied to the input of the base of the transistor Mb from the output of the control unit 17, the transistor Ub6 is closed, which leads to the passage of the voltage Otsap of the lamps from the output of the control unit 17 to the first input of the multivibrator with adjustable pulse width 45 through resistor K19, to the second input

Go! which is supplied with a 15V power supply.

From the output of the control unit 17 according to Zs. a linearly increasing voltage Otsap of lamps from ОВ to и58V is supplied to the first input of the lighting device control unit 13. This voltage is fed through the resistor K19 to the first input of the multivibrator with adjustable pulse spacing 45.

Depending on the value of the voltage Оцап of the lamps at the output of the multivibrator with adjustable pulse gap 45, a pulse voltage is generated with a gap corresponding to the voltage ХОцап of the lamps, which is supplied to the anode of the diode of the optocoupler M7. This voltage is transformed into a light signal, which leads to the activation of the transistor of the M7 optocoupler, from the collector of which the impulse, galvanically decoupled, voltage is supplied to the first input

F) semiconductor relay 46. A supply voltage of 27V is supplied to the second input of the latter. The galvanically decoupled pulse voltage corresponding to the Otsap of the lamps is removed from the output of the semiconductor relay 46 and supplied to the series-connected lighting devices 12. Due to the inertia of the latter, they simultaneously perform the integration of the incoming voltage. Thus, changing the voltage of the Otsap lamps leads to a change in the frequency of the pulses of the multivibrator with adjustable pulse gap 45 and, as a consequence, to a change in the light intensity of the lighting devices 12. The signal from the common wire 1 ("common 1") is fed to the emitter of the transistor Mb, the second output multivibrator with adjustable pulse gap 45 and the cathode of the optocoupler diode

M7. The signal from the common wire 2 ("general 2") is fed to the emitter of the transistor of the M7 optocoupler and to the second output 65 of the semiconductor relay 46. The MU optocoupler provides galvanic decoupling of the control voltages of the Otsap lamps and

On/off of the latter from the power circuits.

From the output of the control unit 17, the code package 0111 is sent to the KZ-KO bus, which arrives at the anodes of the diodes of the optocouplers M8-M11, respectively. A logical zero level is removed from the emitter of the MU8 optocoupler transistor, and a logical one level is removed from the emitters of the MU-M11 optocoupler transistors, which corresponds to the galvanically resolved code 0111, which enters the eleventh, twelfth, thirteenth and fourteenth inputs of the multi-input multiplexer 51, respectively. At the same time, the voltage removed from the resistor K2 (current sensor K2) corresponds to the current consumed by the lighting devices 12 (lamps E1 Eg) connected in series with it and through the multi-input multiplexer 51 is fed to the first input of the first low-pass filter 48, in which the input signal is integrated and fed to the first input of the multivibrator from the adjustments. with a pulse gap of 49. 7/0 The pulse gap of the latter is proportional to the output voltage of the first low-pass filter 48. The output pulses of the multivibrator with adjustable pulse gap 49 are fed to the anode of the M12 optocoupler and are converted into a light flux, which ensures galvanic isolation between power circuits and circuits measurement. From the collector of the M12 transistor, the galvanically decoupled pulses are fed to the first input of the second low-pass filter 50, where they are integrated into the Oatsp voltage, and the latter is fed to the second /5 INput of the control unit 17. The y27V voltage is fed to the input of the y-158 voltage stabilizer 47, where it is transformed into a voltage of -158 and from its first output is fed to the fifteenth input of the multi-input multiplexer 51, to the second input of the multivibrator with a tunable pulse gap 49 and, through a resistor

KZ1, on the collector of the transistor of the M12 optocoupler. The signal from the second output of the voltage stabilizer 4158 47, from the second output of the first low-pass filter 48, from the cathode of the diode of the M12 optocoupler, from the second output of the multi-input Multiplexer 51 and the outputs of the resistors K23, K25, K27, K29 is fed to the common wire 2 ("general 2 ") system.

The signal from the second output of the second low-pass filter 50, the emitter of the M12 transistor and the cathodes of the M8-M11 optocoupler diodes is fed to the common wire 1 ("general 1") of the system.

The OACP voltage is proportional to the current consumed by the lighting devices 12, galvanically isolated from the power circuits, and applied to the input of the multi-channel ADC built into the CPU. high school

The CPU produces a determined value of the current consumed by the lighting devices 12. If this value is equal to zero or exceeds the emergency value set by the program, the control unit 17 turns off i) the lighting devices 12 by applying a logic unit level to the "ON/OFF" input. of the control unit for lighting devices! 3. At the same time, the transistor Mb opens, thereby blocking the supply of voltage Otsap lamps from the output of the control unit 17, because zero voltage is fixed at the first input of the multivibrator with adjustable pulse gap 45. i am

Therefore, the pulse voltage of the multivibrator with adjustable pulse gap 45 is not produced, the optocoupler MU is closed, the semiconductor relay 46 is turned off, the lighting devices 12 are not lit. The CPU of the control unit 17 transmits via a serial channel to the portable computer 25 the value of the current consumed by the lighting devices E1, E2 and the emergency diagnostic code of the lighting devices 12 and the unit "E control of the lighting devices 13. If the value of the current consumed by the lighting devices ET . devices 13 " when applying the above-mentioned voltage from 5V to OV is similar to the operation of the lighting control unit with devices 13 when applying the linearly increasing voltage of the Otsap lamps described above. The CPU of the control unit 17 turns off the lighting devices 12 by applying a logic unit level to the "Off/Off" input. of the control unit;» lighting devices 13. The actions of the latter are similar to those described above.

The CPU of the control unit 17 supplies a positive control voltage to the input of the zoom lens Z for the duration of the zoom, transmits the zoom completion code to the portable computer 25 in serial format. The timer built into the CPU 15" of the control unit 17 is loaded with a binary number proportional to the time Zs. In the cells of the built-in

The emergency code of the execution of the zoom command is recorded in the CPU RAM of the control unit 17. The CPU of the control unit at 5 p.m. checks the flow of Zs. the execution code of the zoom command, which should come from the operator using

Go! of a portable computer 25 via a serial channel. If, during this time, the 5p Code of normal completion of the zoom command does not arrive from the portable computer 25, then the CPU RAM cell of the control unit 17 will have an emergency code for the execution of the zoom command. If, within 3 seconds, a normal zoom command completion code is received from the operator using a portable sp computer 25, then it is recorded in the corresponding cell of the RAM of the CPU of the control unit 17. The CPU of the control unit 17 supplies a negative control voltage to the zoom input of Z during zooming. The actions are repeated as described above. The CPU of the control unit 17 ov supplies a logical zero level to the "Left/Right" input of the tower control unit 9, as well as a logical one level to the "Start/Stop" input of the tower control unit 9. At the same time, the optocoupler M1 is closed, and the optocoupler M2 and

F) transistor switch 41 is open. Therefore, the supply voltage ka t27V is supplied to the bridge switching circuit 40. Since "ptron M1 is closed, the first output of the armature winding I! is connected to the circuit 27V, and the second -

I2 - to the common wire 2 ("common 2"), and the tower motor 8 rotates to the left. The timer built into the CPU of the bo Control 17 block is loaded with a binary number proportional to the time equal to the rotation of the tower from the middle position to the extreme left. The CPU of the control unit 17 starts the internal timer. From the output of the control unit 17, the code package 1010 is sent to the KZ-KO bus, which arrives at the anodes of the diodes of the optocouplers M8-M11, respectively. The level of logical one is removed from the emitters of the transistors of the optocouplers M8, M10, and the level of logical zero is removed from the emitters of the transistors of the optocouplers M9, M11, which corresponds to the galvanic 65 resolved code 1010, which enters the eleventh, twelfth, thirteenth and fourteenth inputs of the multi-input multiplexer 51, respectively . At the same time, the voltage removed from the resistor K1 (current sensor

CI), corresponding to the current consumed by the tower motor 8, connected in series with the latter, through the multi-input multiplexer 51, is fed to the first input of the first low-pass filter 48. Further, the operation of the control device 16 is similar to the operation of determining the current consumed by the lighting devices 12, described above. The ADC voltage is proportional to the current consumed by the engine of the tower 8, galvanically separated from the power circuits, fed to the input of the multi-channel ADC built into the CPU. The CPU produces a specified value of the current consumed by the tower motor 8. If this value is equal to zero or exceeds the emergency value set by the program, the control unit 17 stops the tower motor 8. At the same time, a logic zero level is applied to the "Start/Stop" input of the tower control unit 9. The optocoupler M2 and the transistor switch 7/0 A are closed and, as a result, the bridge switching circuit 40 is de-energized, the tower motor 8 stops.

The CPU of the control unit 17 transmits to the portable computer 25 via a serial channel the value of the current consumed by the engine of the tower 8 and the emergency diagnostic code of the engine (of the tower 8, of the control unit of the tower 9 and begins to diagnose the motor of the video camera 18. If the value of the current consumed tower engine 8 is greater than zero and less than the emergency value, then the CPU of the control unit 17 memorizes this value in the specified /5 cells of the RAM and transmits this value to the portable computer 25 via a serial channel.

The CPU of the control unit 17 interrogates the state of the block of limit switches 6. If the state of the left limit switch of the tower corresponds to the level of logic zero, then the CPU of the control unit 17 stops the engine of the tower 8 by applying a level of logic zero to the "Start/Stop" input of the control unit of the tower 9, the principle of operation which, when turned off, is described above, the status code of the limit switches of the block 2o Limit switches b is stored in the specified cells of the CPU RAM of the control unit 17. If the state of the left limit switch of the tower corresponds to the level of a logical unit and the internal timer of the CPU of the control unit 17 did not work, then the consumed current of the motor of the tower 8 is determined again and its value is checked according to the algorithm described above. If the state of the left limit switch of the tower corresponds to the level of a logical unit and the internal timer has started, then the CPU of the control unit 17 stops the engine of the tower 8 according to the algorithm described above, memorizes the code of the state of the limit switch unit 6 in the specified cells of the RAM of the CPU of the control unit 17, transmits emergency status code of the left turret limit switch to portable computer 25 via serial channel. The CPU of the control unit 17 supplies the level of a logical unit to the input i) "Left/Right" of the tower control unit 9, as well as the level of a logical unit to the "Start/Stop" input of the tower control unit 9. At the same time, optocouplers M1 and M2, transistor switch 41 are opened and, as a consequence, a supply voltage of 427V is applied to the switching bridge circuit 40. Since the optocoupler M1 is open, the output of the armature circuit Y1 is connected to the common wire 2 ("common 2"), and the output of the armature circuit Y2 - to the circuit 127V, and the motor of the tower 8 rotates to the right. The timer built into the CPU of the control unit is loaded with a binary number proportional to the time equal to the rotation time of the tower from the extreme left position to the extreme right. (in

The CPU of the control unit 17 starts the internal timer.

Determining the current consumed by the motor of the tower 8, checking it and determining the state of the right limit switch 5 of the tower switch is carried out similarly to the algorithm for the left rotation of the tower described above. At the end of the "g" check, the tower returns to the central position.

The CPU of the control unit 17 supplies the level of a logical unit to the "Up/Down" input of the video camera control unit 19, as well as the level of a logical unit to its "Start/Stop" input. The operation of the video camera control unit 19 corresponds to the operation of the tower control unit 9 in the right rotation mode described above. The timer built into the CPU of the control unit 17 is loaded with a binary number corresponding to the time equal to the camera rotation time in seconds from the extreme lower position to the uppermost position. The CPU of the control unit 17 starts the timer. From the output of the control unit 17, the code package 1001 is sent to the KZ-KO bus, which arrives at the anodes of the optocoupler diodes;" M8-M11, respectively. The same binary galvanically decoupled code 1001 is removed from the emitters of the transistors of the optocouplers M8-M11, which enters the eleventh, twelfth, thirteenth and fourteenth inputs of the multi-input multiplexer 51, respectively. At the same time, the voltage removed from the short-circuit current sensor corresponds to their current consumption motor of the video camera 18, connected in series with it through the multi-input multiplexer 51, is fed to the first input of the low-pass filter 48. Further, the operation of the control device 16 is similar to the operation of determining the current consumed by the lighting devices 12, described earlier.

Go! The ADC voltage is proportional to the current consumed by the camera motor 18, galvanically isolated from the power 5p circuits, and fed to the input of the multi-channel control unit built into the CPU 17. The ADC of the CPU determines the current consumed by the camera motor 18. sp Diagnostic algorithm of the video camera control unit 19 and its engine 18 is similar to the algorithm for checking the tower control unit 9 and its engine 8, the states of the upper and lower limit switches of the camera are diagnosed, the camera engine 18 stops.

The CPU of the control unit 17 starts checking the pantograph motor 14 and the pantograph control unit 15, the diagnostic algorithm of which is similar to the diagnostic algorithm of the camera control unit 19 and the camera motor 18.

F) The motor of the pantograph 14 is set to the lowest position and stops. The CPU of the control unit 17 begins to check the port engine 10, the port engine control unit 11, the starboard engine 20 and the starboard engine control unit 21 of the self-propelled diagnostic robot 1. At the same time, it includes the port engine 10 and the starboard engine 20 by simultaneously applying a logical zero level to the "Start/Stop" inputs of the port engine control unit 11 | starboard 21, respectively. Due to the fact that the operation of these blocks is the same, let's consider it using the example of the port engine control unit 11. When a logic zero level arrives at the "Start/Stop" input of the port engine control unit 11 (starboard 21), transistor M4 closes , which allows the passage of the voltage Otsap of the left side 65, Otsap of the right side to the first input of the multivibrator with the reconstruction of the pulse gap 42, through the resistor K14, the second input of which is supplied with a supply voltage of 15V. The CPU of the control unit 17 supplies at the same time the level of a logical unit to the "Forward/Reverse" inputs of the engine control unit of the port side 11 (right 21), respectively. At the same time, the optocoupler M3 of the down control unit of the left side 11 (right side 21) opened, the bridge circuit of switching 43 is activated and the output SH1 of the latter through the second input was connected to the supply voltage of 278V, and the output SH2 - to the common wire 2 ("common 2") of the system Z outputs of the control unit 17 are supplied with linearly increasing voltages of the left side Otsap and starboard Otsap from OV to -5V to the first input of the engine control unit of the left side 11 (right side - 21).

These voltages are fed through resistors K14 to the first inputs of the multivibrator with adjustable pulse gap 42. Depending on the magnitude of the voltages Otsap of the port side (tap of the starboard side) at the output of the last /o, a pulse voltage is generated with a gap corresponding (proportional) to the Otsap of the port side (tap of the starboard side ), which enters the anodes of the M5 optocoupler diodes. This voltage is converted into a light signal, which leads to the operation of the transistors of the M5 optocouplers, from the collector of which a pulsed, galvanically decoupled voltage is supplied to the first input of the semiconductor relay 44, to the second input of which the supply voltage 278 is supplied.

Galvanically decoupled impulse voltages corresponding to the voltages Otsap of the port side and Otsap of the starboard side, 7/5 are removed from the outputs of the semiconductor relays 44 and are fed to the armature windings of the engines of the port side 10 and the engines of the starboard side 20. Since the armature windings of the latter have large inductance values , they simultaneously perform the integration of the incoming voltages. Thus, when the voltage of the Otsap of the port side and the Otsap of the starboard side changes, the frequency of pulses of multivibrators with adjustable pulse gap 42 changes and, as a consequence, the speed of rotation of the motors of the port side 10 and the starboard side 20 changes. The signal from 2o common wire 1 ("general 1") is fed to the emitters of transistors M4, to the cathodes of the diodes of the MUZ and MU5 optocouplers, and the second output of the multivibrator with pulse-gap adjustment 42. The emitters of the optocoupler transistors M3, M5, the second outputs of the semiconductor relay 44 and the bridge switching circuit 43 - to the common wire 2 (" General 2") of the system. Optrons M3, M5 provide galvanic isolation of the control circuits coming from the control unit 17, from the power circuits. high school

The control unit 17 sequentially outputs binary codes from 0001 to 0110 to the KZ-KO bus, respectively. At the same time, the voltages taken from the current sensors K5-K10 are connected in series to the Oatsp input of the control unit 17. i)

The operation of the control device 16 when removing the voltages from the current sensors K5-K10 is similar to the operation of the control device 16 when removing the voltages from the current sensors K1-K4, the CPU of the control unit 17 described above sequentially measures the currents consumed by the engines on the port side 10 and on the starboard side 20. If the indicated currents are within the specified limits, the CPU of the control unit 17 remembers their values in the specified cells of the RAM built into the CPU and stops the engines of the left and right sides. If the specified currents were outside the working values, then

The CPU of the control unit 17 remembers their values in specified cells of the RAM built into the CPU and stops the engines of the port side 10 and the right side - 20 and transmits to the portable computer 25 via a serial channel the emergency diagnostic codes corresponding to each engine of the left side 10, the engine of the right side board 20 and the control unit o

Зз5 engines on the port side 11, on the starboard side - 21. Work when checking the movement of the diagnostic robot 1 backwards, "E diagnostics of the engines of the left and right sides and their control units is similar to the work when moving forward.

The exception is the following: the "Forward/Reverse" input of the port engine control unit 10 and the starboard engine control unit 21 is supplied with a logic zero level from the control unit 17, while the optocoupler UZ is closed, and the bridge switching circuit 43 has worked in such a way that the output AI of the latter connected to "

Common wire 2 ("general 2"), and output Ш2 - to the supply voltage 4278. z с By setting different values of Otsap of the left side and Otsap of the right side, it is possible to change the directions of movement of the diagnostic robot 1 (left, right). ;" The control unit 17 determines the slope value taken from the slope sensor 7.

At the same time, the voltage removed from the output of the slope sensor 7 is directly fed to one of the inputs of the multi-channel ADC control unit 17 built into the CPU. If the value of the slope is less than 1" and more than 460", then the CPU of the control unit 17 transmits the emergency diagnostic code of the slope sensor 7 to the portable computer 25 via a serial channel. o If the value of the slope is within the specified limits, the CPU of the control unit!7 transfers it to the portable one

Go! computer 25 slope values. The control unit 17 transmits to the portable computer 25 via a serial channel the state parameters of the diagnostic robot 1 and the completion code of the diagnostic routine. o If the parameters of the state of diagnostic operation 1 are normal (the values of all currents consumed by motors and lighting devices correspond to the specified values, the values of all supply voltages are also normal, all blocks and modules of the system are functional), then the CPU of the control unit 17 reads command code from a cell of the RAM built into it. If the parameters are outside the specified limits, the diagnostic robot 1 is turned off by the operator.

The code of the executed command enters the RAM of the CPU of the control unit 17 through the serial channel from

F) portable computer 25. The operator selects the necessary command from the menu of commands displayed on the screen of the portable computer 25, depending on the situation in the pipeline inspection area.

If the CPU of the control unit 17 has determined the "Forward" command code, then the diagnostic robot 1 begins to execute the corresponding subroutine. When the "Forward" command is received from the portable computer 25, a code package corresponding to the speed of movement of the self-propelled diagnostic robot 1 is also transmitted over a serial channel, and is memorized in the specified cells of the RAM of the CPU of the control unit 17. The CPU of the control unit 17 supplies the logical zero level to the "Start/Stop" inputs of the port engine control unit 11 and the starboard engine control unit 21, respectively. At the same time, transistors M4 are closed, allowing the passage of 65 voltages of the left-hand side and O-side of the right side to the first inputs of the multivibrators with overlapping pulse gap 42 through the resistor K14, to the second input of which the voltage 4158 is applied. The CPU of the control unit 17 simultaneously supplies the level of a logical unit to the inputs " Forward/Reverse" of the port engine control unit 11 and the starboard engine control unit 21, respectively. At the same time, the UZ optocouplers of the latter are opened and the bridge switching circuits 43 are activated in such a way that the AI conclusions of the latter are connected to the voltage n27V, and

CONCLUSIONS Sh2 - to common wire 2 ("common 2") of the system. From the output of the control unit 17, the linearly increasing voltage Otsap of the port side and Otsap of the starboard side from OB to the voltage corresponding to the speed of movement of the diagnostic self-propelled robot 1 is supplied to the first inputs of the engine control unit of the port side 11 and the engine control unit of the starboard side 21, respectively. These voltages are fed through resistors K14 to the first inputs of the multivibrator with adjustable pulse gap 42. 70 Depending on the magnitude of the voltages (Otsap of the left side, Otsap of the right side) at the output of the multivibrator with adjustable pulses gap 42, a pulse voltage is generated with the gap corresponding (proportional) Otsap of the left side Otsap on the right side), which is supplied to the anodes of the diodes of the M5 optocouplers. This voltage is converted into a light signal, which leads to the activation of the M5 optocoupler transistors, from the collector of which a pulsed, galvanically decoupled voltage is supplied to the first input of the semiconductor relay 44, to the second input which is supplied with a supply voltage of 27 V. Galvanically decoupled impulse voltages corresponding to the voltages Otsap of the port side and Otsap of the starboard side are removed from the outputs of semiconductor relays 44 and are applied to the armature windings of the engines of the port side 10 and the engines of the starboard side 20. Since the armature windings of the latter have large inductance values, they at the same time ac perform the integration of incoming voltages.

Thus, when the voltage of the port Otsap and the starboard Otsap changes, the frequency of pulses of multivibrators with adjustable pulse gap 42 changes and, as a consequence, the speed of rotation of the engines of the port side 10 and the starboard side 20 changes. The signal from the common wire 1 ("common 1" ) is fed to the emitters of transistors M4, to the cathodes of the diodes of the UZ and M5 optocouplers and the second output of the multivibrator with pulse gap adjustment 42. The emitters of the optocoupler transistors MZ3, M5, the second outputs of the semiconductor relay 44 and the bridge switching circuit 43 - to the common wire 2 ("general 2") of the system. The optocouplers M3, U5 provide galvanic isolation of the control circuits coming from the control unit 17 from the power ones.

The CPU of the control unit 17 transmits to the portable computer 25 via a serial channel the completion code i) execution of the "Forward" command, which causes the corresponding message to appear on the screen of the portable computer 25. The CPU of the control unit 17 writes the code in the command cell of the RAM built into it , different from those used in the system, and returns to the main program for controlling the self-propelled diagnostic robot 1. Using this, the CPU of the control unit 17 again extracts the command from the RAM command cell and decrypts it.

If the command code does not correspond to the code of the "Forward" command, the CPU of the control unit 17 compares it with the code of the "Back" command. If the code of the command coincided with the code of the "Back" command, the corresponding routine is executed. co

When the "Back" command is received from the portable computer 25, a code package corresponding to the speed of movement of the self-propelled diagnostic robot 1 is also transmitted via the serial channel, stored in the specified memory cells of the CPU of the control unit 17. "E

The CPU of the control unit 17 supplies a logical zero level to the Start/Stop inputs of the port engine control unit 11 and the starboard engine control unit 21, respectively. At the same time, their transistors M4 are closed, allowing the passage of the left side Otsap and right side Otsap voltages to the first inputs of the multivibrator with adjustable pulse gap 42 through resistors K14, to the second input of which the voltage 4158 is applied. The CPU of the control unit 17 simultaneously supplies the logical zero level to the inputs "Forward/Reverse" of the port engine control unit 11 and the starboard engine control unit 21, respectively. The optocouplers of the UZ of the latter are closed and the bridge switching circuit 43 is activated in such a way that the conclusions of the AI of the latter are connected to the common ;" wire 2 ("general 2") of the system, and the conclusions of the control panel - to the voltage "27V".

From the output of the control unit 17, the voltages Otsap of the port side and Otsap of the starboard side are supplied linearly increasing from OB to the voltage corresponding to the speed of movement of the diagnostic self-propelled robot 1, to the first inputs of the unit of their control of the engine of the port side 11 and the unit of control of the engine of the starboard side 21, respectively. These voltages through the resistor K14 are supplied to the first inputs of the multivibrator with a pulse gap adjustment of 42. In o depending on the magnitude of the voltages Otsap of the left side Otsap of the right side) at the output of the multivibrator with

Go! reconfiguration pulse gap 42 generates a pulse voltage with a matching (proportional) Otsap of the left side Otsap of the right side), which is supplied to the anodes of the diodes of the U5 optocouplers. This voltage o is transformed into a light signal, which leads to the activation of transistors of optocouplers M5, from the collector sp of which a pulsed, galvanically decoupled voltage enters the first input of the semiconductor relay 44, the second input of which is supplied with a supply voltage of 27V. Galvanically decoupled pulse voltages corresponding to the voltages Otsap of the port side and Otsap of the right side are removed from the outputs of the semiconductor relays 44 and fed to the armature windings of the engines on the left side 10 and the engines on the starboard side 20. Since the armature windings of the latter have large inductance values, they simultaneously perform integration of incoming voltages.

Ф) Thus, when the voltage of the Otsap of the port side and the Utsap of the starboard side changes, the pulse gap of the multivibrators changes with the rearrangement of the pulse gap 42 and, as a consequence, the rotation speed of the engines of the port side 10 and the starboard side 20 changes. The signal from the common wire 1 (" General 1") is supplied to the emitters of transistors M4, to the cathodes of the diodes of the UZ and M5 optocouplers, and the second output of the multivibrator with adjustable pulse gap 42. The emitters of the MUZ, M5 optocoupler transistors, the second outputs of the semiconductor relay 44 and the bridge switching circuit 43 - to the common wire 2 ("general 2") of the system. Optocouplers M3, M5 provide galvanic isolation of the control circuits coming from the control unit 17 from the power ones.

The CPU of the control unit 17 transmits to the portable computer 25 via the serial channel the completion code 65 Execution of the "Forward" command, which causes the corresponding message to appear on the screen of the portable computer 25. The CPU of the control unit 17 writes to the command cell of the RAM built into it a code, different from those used in the system, and returns to the main self-propelled diagnostic robot control program 1.

At the same time, the CPU of the control unit 17 again extracts the command from the RAM command cell and decrypts it.

By providing different values of the rotation speeds of the port side engines 11 and the starboard engines - 20, as well as, when changing the direction of their rotation (forward or backward), the operator can maneuver the diagnostic robot 1 depending on the specific situation inside the pipeline at the time of the study.

If the command code does not correspond to the "Back" code, the CPU of the control unit 17 compares it with the "Pantograph up" command code. If the command code matched, then the corresponding routine is executed. At the same time, the CPU of the unit 7/o Control 17 checks the state of the block of limit switches 6. If the state of the upper limit switch of the pantograph corresponds to the logical zero level (that is, it is active) and as a result, the pantograph cannot be raised, the control unit 17 transmits the command completion code "Pantograph up" and the status code of the block of limit switches 6 to the portable computer 25 via a serial channel. The corresponding message appears on the screen of the portable computer 25. The CPU of the control unit 17 writes in the command cell of the built-in RAM a code different 7/5 From those used in the system, and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the RAM command cell and decrypts it.

If the state of the final upper switch of the pantograph corresponds to the level of a logical unit (that is, it is passive), the CPU of the control unit 17 supplies the levels of a logical unit to the "Up/Down" input and the "Start/Stop" input of the pantograph control unit 15. At the same time, optocouplers M1 and M2, transistor switch 41 are opened and, as a result, 27V supply voltage is supplied to 2o Bridge switching circuit 40. Since the optocoupler. M1 is open, output Y1 of the latter is connected to circuit 27V, and output Y2 - to common wire 2 ("general 2") and pantograph motor 14 raises the pantograph. The connection of common wires 1 and 2 of the pantograph control unit 15 is described in detail above.

The control unit 17 transmits the completion code of the "Pantograph down" command and the state code of the block of end switches 6 to the portable computer 25 via a serial channel. A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes in the command cell of the built-in RAM a code different from those i) used in the system, and returns to the main program for controlling the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the RAM and decrypts it.

If the command code does not correspond to the "Pantograph up" command code, the CPU of the control unit 17 compares it with the "Pantograph down" command code. If the command code matched, the corresponding routine is executed. With

The CPU of the control unit 17 checks the state of the block of limit switches 6. If the state of the bottom end switch of the pantograph corresponds to the level of logical zero (that is, it is active), the pantograph cannot be lowered, the control unit 17 transmits the completion code of the "Pantograph down" command and the block status code of limit switches b is transmitted via a serial channel to the portable computer 25. The corresponding message about appears on the screen of the latter. The CPU of the control unit 17 writes in the command cell of the built-in RAM a code that is different from those used in the system and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the RAM and performs its decryption.

If the state of the final bottom switch of the pantograph corresponds to a logical unit (that is, it is passive), the CPU of the control unit 17 supplies a level of logical zero to the "Up/Down" input of the pantograph control unit 15 and a level with a logical unit to the "Start/Stop" input of the latter. At the same time, the optocoupler M2 opens and, as a consequence, the transistor switch 41 is activated, supplying a supply voltage of -27V to the bridge switching circuit 40. The optocoupler M1 is closed, so the output I! bridge switching circuit 40 is connected to the common wire 2 ("common 2"), and Y2 - to the circuit І27В and the motor of the pantograph 14 lowers the pantograph. The connection of common wires 1 and 2 ("zag1" and "zag2") to the pantograph control unit 15 is described in detail above. The control unit 17 transmits the completion code of their execution of the command "Pantograph down" and the status code of the block of limit switches b to the portable computer 25 via a serial channel. A corresponding message appears on the screen of the latter. The CPU of the control unit 17 o writes in the command cell of the built-in RAM a code different from those used in the system and returns to

Go! the main program for controlling the diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the 5th cell of the RAM commands and decrypts it. If the command code does not match the "Pantograph down" command code, the CPU of the control unit 17 compares it with the "Tower left" command code. If the command code matched, then the corresponding subroutine is executed. At the same time, the CPU of the control unit 17 checks the state of the block of limit switches 6. If the state of the left end switch of the tower corresponds to the level of logical zero, that is, it is active and the tower cannot be rotated to the left, the control unit 17 transmits the completion code of the "Tower left" command and the status code block of limit switches 6 is transmitted to the portable computer 25 via a serial channel.

A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes commands into the cell

F) of the built-in RAM, the code, different from those used in the system, is returned to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the RAM command shell and decrypts it. в If the state of the final left switch of the tower corresponds to the level of a logical unit (that is, it is passive), the CPU of the control unit 17 supplies the levels of logical units to the inputs "Left/Right" and "Start/Stop" of the tower control unit 9. The operation of the latter is similar to the operation of the control unit pantograph 15 when executing the "Pantograph up" command described above.

The control unit 17 transmits the completion code of the "Pantograph down" command and the state code of the final 65 switch units 6 to the portable computer 25 via a serial channel. A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those used in the system into the command cell of the built-in RAM and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the RAM and decrypts it.

If the command code does not match the "Tower left" command code, the CPU of the control unit 17 compares it with

Command code "Tower right". If the command code matched, the corresponding routine is executed. With

The CPU of the control unit 17 checks the state of the terminal block 6. If the state of the end right switch of the tower corresponds to the level of logic zero, that is, it is active, and the tower cannot be rotated to the right, the control unit 17 transmits the completion code of the "Tower to the right" command and the status code of the terminal block switches b is transmitted via a serial channel to the portable computer 25. The corresponding message /o appears on the screen of the latter, the CPU of the control unit 17 writes a code different from those used in the system into the command cells of the built-in RAM and returns to the main control program self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the RAM command cell and decrypts it.

If the state of the end right switch of the tower corresponds to a level of logic one (that is, it is passive), the CPU of the control unit 17 supplies a level of logic zero to the input "Left/Right" and a level of logic one to the input "Start/Stop" of the control unit of the tower 9. The operation of the latter is similar operation of the pantograph control unit 15 when executing the "Pantograph down" command described above. The control unit 17 transmits the command completion code "Pantograph down" and the state code of the limit switch units 6 to the portable computer 25 via a serial channel. A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those used in the system into the Kcommand cell of the built-in RAM, and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the RAM command cell and decrypts it.

If the command code does not match the "Tower right" command code, the control unit CPU 17 compares it with the "Camera up" command code. If the command code matched, the corresponding routine is executed. At the same time,

The CPU of the control unit 17 checks the state of the block of limit switches 6. If the state of the upper limit switch of the camera corresponds to the level of logic zero, that is, it is active, and the camera cannot be raised, the control unit 17 i) transmits the completion code of the execution of the "Camera up" command and the code of the block status of limit switches b is transmitted via a serial channel to the portable computer 25. The corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes in the command cell of the built-in RAM a code different from those used in the system and returns to the main program for controlling the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the RAM and performs its decryption. If the state o of the upper limit switch of the camera corresponds to the level of a logical unit (that is, it is passive), the CPU of the control unit 17 supplies a level of a logical unit to the inputs "Up/Down" and "Start/Stop" of the unit of control of the camera 19.

The operation of the latter is similar to the operation of the pantograph control unit 15 when executing the "Pantograph up" command described above. "IS

The control unit 17 transmits the completion code of the "Pantograph down" command and the state code of the limit switch units 6 to the portable computer 25 via a serial channel. A corresponding message will appear on the screen of the latter. The CPU of the control unit 17 writes a code different from those used in the system into the command cell of the built-in RAM and returns to the main program for controlling the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the RAM and performs its debugging. z c If the command code does not match the "Camera Up" command code, the CPU of the control unit 17 compares it with . with the code of the "Camera down" command. If the command code matched, the corresponding routine is executed. And at the same time?" The CPU of the control unit 17 checks the state of the limit switch block 6. If the state of the lower limit switch of the camera corresponds to the logic zero level, that is, it is active and the camera cannot be lowered, the control unit 17 transmits the completion code of the execution of the "Camera down" command and the status code of the limit switch block b through their serial channel is transmitted to the portable computer 25. The corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes in the command cell of the built-in RAM a code different from those used in the system, and returns to the main control program of the self-propelled diagnostic robot 1. CPU

Go! control unit 17 again extracts the command from the RAM command cell and decrypts it. If the state 5r of the End lower switch of the camera corresponds to the level of a logical unit (that is, it is passive), the CPU of the control unit 17 supplies a logical zero level to the "Up/Down" input and a logical unit level to the "Start/Stop" input of the camera control unit (9 The operation of the latter is similar to the operation of the pantograph control unit 15 when executing the "Pantograph down" command described above.

The control unit 17 transmits the completion code of the command "Pantograph down" and the code of the state of the block of final switches 6 to the portable computer 25 via a serial channel. A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those in the command cell of the built-in RAM

Ф) are used in the system, and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the RAM command cell and decrypts it.

If the command code does not match the "Camera Down" command code, the CPU of the control unit 17 compares it with the "Light On" command bo code. If the command code matched, the corresponding routine is executed. When the "Enable lighting" command is received from the portable computer 25 via a serial channel, a code package corresponding to the necessary illumination of the lighting devices 12 is also transmitted, which is memorized in the specified cells of the built-in RAM of the CPU of the control unit 17. The latter supplies the level of logical zero to the input " "On/Off" of the control unit for lighting devices 13. At the same time, the transistor b 65 of the latter is closed, thus allowing the passage of the voltage IPtsap of the lamps from the control unit 17 to the first input of the multivibrator with pulse gap adjustment 45 through the resistor K19, to the second input of which the voltage is applied 158.

From the output of the control unit 17, a linearly increasing voltage of the Otsap lamps is supplied from OV to the voltage of the corresponding code package received from the portable computer 25 to the DAC input of the lamps of the control unit for lighting devices 13. This voltage is fed through the resistor K19 to the first input of the multivibrator with pulse-slit adjustment 45. Depending on the value of the voltage of the Ocap lamps, at the output of the latter, a pulse voltage is generated with the gap corresponding to the Ocap lamps, which enters the anode of the diode of the M7 optocoupler. This voltage is transformed into a light flux, which leads to the operation of the transistor of the M7 optocoupler, from the collector of which a pulsed, galvanically decoupled voltage is supplied to the first input of the semiconductor relay 46, to the second 7/0 input of which the voltage 5278 is supplied. The semiconductor relay 46 is activated and the voltage from its first output is fed to the series-connected lamps ET,E2 of lighting devices 12. Since the latter have a large inertia value, they integrate the voltage applied to them. Thus, when the voltage Ptsap of the lamps changes, by changing the code package received from the portable computer 25, the degree of illumination of the lighting devices 12 changes. The signal from the common wire 1 ("common 1") is fed to the second /5 OUTPUT of the multivibrator with slot tuning pulses 45, on the emitter of the transistor Mb and on the cathode of the diode of the optocoupler M7. The signal from the common wire 2 ("common 2") is fed to the emitter of the transistor of the MU optocoupler and to the second output of the semiconductor relay 46. The control unit 17 transmits the completion code of the "Lighting off" command via a serial channel to the portable computer 25. The corresponding message appears on the screen of the latter.

The CPU of the control unit 17 writes in the command cell of the built-in RAM a code different from those you use in the system and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the built-in CPU RAM and proceeds to it decryption

If the command code does not match the Illuminate On command code, the CPU of the control unit 17 compares it with the Image Magnification command code. If the command code matched, then the corresponding routine is executed.

At the same time, the positive control voltage 4158 from the output of the control unit 17 and sch 2gv5 is received at the zoom input Z. It transmits the completion code of the "Image enlargement" command to the portable computer 25 via a serial o channel.

A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those used in the system into the cells of the commands of the built-in RAM, and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the cell of the commands of the built-in RAM of the CPU and proceeds to its decipherment.

If the command code does not correspond to the code of the "Image Increase" command, the CPU of the control unit 17 compares it with the "Image Decrease" command code. If the command code matched, then the corresponding subroutine is executed. At the same time, the negative control voltage -158 from the output of the control unit 17 is received at the input of the zoom lens Z. It transmits the completion code of the command "Reduce the image" to the portable computer 25 via the z5 serial channel. "Mr

A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes in the command cell of the built-in RAM a code that is different from those you use in the system and returns to the main program of controlling the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the built-in CPU RAM and starts its decryption If the command code does not correspond to the command code "Reduce the image", the CPU of the control unit 17 compares it with the command code "Stop the port and starboard engines". If the command code matched, the corresponding routine is executed.

At the same time, from the control unit 17 to the inputs Otsap of the port side and Yutsap of the right side of the control units;" engines of the port side 11 and engines of the starboard side 21, respectively, at the same time linearly decreasing voltages from the levels of the corresponding speed of movement of the self-propelled diagnostic robot 1 are supplied to the OB. The voltage Otsap of the left side and Otsap of the right side are supplied to the first inputs of the multivibrators with adjustable frequency of pulses of 42 through resistors K14, and the supply voltage of 15 V is applied to its second input. From the first output of the multivibrator with adjustable frequency of pulses 42, a pulsed voltage is removed, the frequency of which o changes depending on the change in the voltages of the left side Otsap, the right side Otsap and enters the anodes of the diodes

Go! optocouplers M5. Optocouplers M5 activate and transmit a pulsed, galvanically decoupled voltage to the first input 5r of the Semiconductor relay 44, the second input of which is supplied with a voltage of 427V. From the output of the semiconductor relay o 44, a pulse voltage is supplied to the armature windings of the port side engines 10 and the starboard engines 20. sp Thanks to the inductance of the engine armature windings, the output voltage of the semiconductor relay 44 is integrated. Since the voltages Otsap of the port side and Otsap of the starboard side decrease linearly to OB, the duration of the pulses taken from the output of the multivibrator with pulse-slot adjustment 42 and, as a consequence, the duration of the pulses taken from the output of the semiconductor relay 44 decreases. Therefore, the voltage on the armature windings of the engines of the right 20 and left 10 sides decreases, they stop. At the entrances

Ф) "Start/Stop" of the port engine control unit 11 and the starboard engine control unit 21 when voltages corresponding to the level of the logical unit are received from the control unit 17. Transistors M4 of the port engine control unit 11 and the starboard engine control unit 21 are opened, prohibiting, thereby , the passage of the Otsap voltages of the left side and Otsap of the starboard side to the first inputs of the multivibrators with the reconstruction of the pulse gap 42, respectively. The voltage level at the "Forward/Reverse" input of the engine control unit of the left side 11 and the right side 21 when executing this command is not important and corresponds to the last command executed /"Forward" or "Backward". The signal connection of common wire 1 ("common 1") and common wire 2 ("common 2") is described above.

The values of the voltages at the outputs SH1 and SH2 of the bridge switching circuit 43 correspond to the voltages set on b5 THESE conclusions during the execution of the last "Forward" or "Backward" command described above. The control unit 17 transmits the completion code of the command "Stop the engines of the left and right sides" via a serial channel to the portable computer 25.

A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes in the command cell of the built-in RAM a code different from those used in the system and returns to the main program

Control of a self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the RAM built into the CPU and starts its decryption.

If the command code does not correspond to the command code "Stop engines of the left and right sides", the CPU of the control unit 17 compares it with the command code "Stop pantograph". If the command code matched, then the corresponding routine is executed. At the same time, the "Start/Stop" input of the pantograph control unit 15 is supplied with a logical zero level uo from the control unit 17. The optocoupler M2 of the pantograph control unit 15 closes and de-energizes the transistor switch 41, which, in turn, leads to the de-energization of the bridge switching circuit 40 and stopping the pantograph engine 14. The voltage at terminals Y1, Y2 is equal to ОВ. The voltage level at the "Up/Down" input of the pantograph control unit 15 has no value and corresponds to the last command executed: "Pantograph up" or "Pantograph down". Connecting signals from common wire 1 ("common 1") and common wire 2 7/5 common. 2") is described above. The values of the voltages at the terminals Х1 and Х2 of the bridge switching circuit 40 correspond to the voltages set at these terminals during the execution of the last command: "Pantograph up" or "Pantograph down", described above. The control unit 17 transmits the command completion code "Stop the pantograph" through the serial channel to the portable computer 25. The corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes in the command cell of the built-in RAM a code different from those used in the system and returns to the main self-propelled control program by the diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the RAM built into the CPU and starts its decryption.

If the command code does not match the pantograph stop command code, the CPU of the control unit 17 compares it with the tower stop command code. If the command code matched, then the corresponding routine is executed. At the same time, a logical zero level is applied to the Input "Start/Stop" of the tower control unit 9 from the control unit 17. The optocoupler M2 of the tower control unit 9 closes and de-energizes the transistor switch 41, which, in turn, i) leads to the de-energization of the bridge circuit switching 40 and stopping the engine of the tower 8, voltage on the terminals

Y1, Y2 are equal to OB. The voltage level at the "LEFT/RIGHT" input of the tower control unit 9 has no value and corresponds to the last command executed: "Tower to the left" or "Tower to the right". The connection of signals from the common wire 1 ("general 1"7) and from the common wire 2 (common 2") is described above. The values of the voltages at the terminals ЖИ and Ш2 of the bridge switching circuit 40 correspond to the voltages set at these terminals during execution of the last command: "Tower to the left" or "Tower to the right", described above. The control unit 17 so transmits the completion code of the command "Stop the tower" via a serial channel to the personal computer 25. o

A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those used in the system into the command cell of the built-in RAM and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the CPU of the RAM and starts its decipherment

If the command code does not correspond to the "Stop turret" command code, the CPU of the control unit 17 compares it with the "

Stop Camera commands. If the command code matched, then the corresponding routine is executed. At the same time, a logical zero level is applied to the "Start/Stop" input of the camera control unit 19 from the control unit 17. The optocoupler 2 of the camera control unit 19 closes and de-energizes the transistor switch 41, which, in turn, leads to the de-energization of the bridge circuit of the switch 40 and the stop of the motor of the camera 18, the voltage on the terminals

Y1, Y2 which are equal to OB. The voltage level at the "Up/Down" input of the camera control unit 19 has no value and

Corresponds to the last command executed: "Camera up" or "Camera down". The connection of signals from their common wire 1 ("common 1"7) and from common wire 2 ("common 2") is described above. The voltage values at the terminals SHI and SH2 of the bridge switching circuit 40 correspond to the voltages set at these terminals during the execution of the last

Go! commands: "Camera up" or "Camera down" described above. The control unit 17 transmits the completion code 5r Execution of the "Stop Camera" command to the portable computer 25 via a serial channel. o The corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those used in the system into the command cell of the built-in RAM, and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the CPU built-in RAM and starts its execution decryption

If the command code does not match the "Stop Camera" command code, the CPU of the control unit 17 compares it with the "Light Off" command code. If the command code matched, then the corresponding routine is executed. At

Ф) this is supplied to the Otsap lamp input of the lighting device control unit 13 with a linearly reduced voltage ka from the level corresponding to the lighting voltage level of the lighting devices 12, set during the execution of the "Lighting On" command, to the OV from the control unit 17. The Otsap voltage of the lamps is supplied to The first input is the input of the multivibrator with adjustable pulse width 45 through resistor 19, and the supply voltage 4158 is applied to its second input. From the first output of the multivibrator with adjustable pulse width 45, a pulse voltage is removed, the width of which changes depending on the change in the voltage of the Otsap lamps and is fed to the anode M7 optocoupler diode. The latter activates and transmits a pulsed, galvanically decoupled voltage to the first input of the semiconductor relay 46, to the second input of which the power supply voltage i-278 is supplied. From the output 65 of the semiconductor relay 46, the pulse voltage is supplied to the lighting devices 12. Thanks to the inertia of the latter, the output voltage of the semiconductor relay 46 is integrated. Since the voltage Otsap of the lamps decreases linearly to OV, the duration of the pulses removed from the output of the multivibrator with the reconstruction of the pulse gap 45, and, as a result, the duration of the pulses taken from the output of the semiconductor relay 46 is reduced. Therefore, the voltage on the lighting devices 12 decreases and they go out. The "On/Off" input of the control unit for lighting devices 13 receives a voltage corresponding to the level of a logical unit from the control unit 17. Transistor Ub of the control unit for lighting devices 13 opens, thus blocking the passage of the Otsap lamp signal from the control unit 17. Connecting signals from the common wire 1 ( "general 1"), from common wire 2 ("general 2") is described above. The control unit 17 sends the completion code of the execution of the command "Turn off the light" to the portable computer 25 via a serial channel. The corresponding 7/0 message appears on the screen of the latter. The CPU of the control unit 17 writes in the built-in command cell

RAM code, different from those used in the system, and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell built in

The CPU of the RAM and begins its decryption.

If the command code does not match the Light Off command code, the control unit CPU 17 compares it to the 7/5 Stop Zoom command code. If the command code matched, then the corresponding routine is executed. At the same time, a zero control voltage from the control unit 17 arrives at the zoom input Z. The zoom motor stops. The control unit 17 transmits the completion code of the "Zoom Stop" command to the portable computer 25 via a serial channel.

A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those used in the system into the Kcommand cell of the built-in RAM, and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the RAM built into the CPU and begins to decipher it .

If the command code does not match the "Zoom Stop" command code, the CPU of the control unit 17 compares it with the "Stop" command code. If the command code matched, then the corresponding routine is executed. At the same time, commands are executed sequentially. "Stop the engines of the left and right sides", "Stop the pantograph", "Stop the tower", "Stop the camera", "Turn off the lights", "Stop the zoom" described above Control unit 17 transmits the code i) completion of the command "Stop" to the portable computer 25 on a serial channel.

A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those you use in the system into the command cell of the built-in RAM, and returns to the main program using Self-propelled diagnostic robot control 1. The CPU of the control unit 17 again extracts the command from the command cell of the CPU built-in RAM and we begin its decipherment. at

If the command code does not correspond to the code of the "Stop" command, the CPU of the control unit 17 compares it with the code of the "Diagnostics" command. If the command code matched, then the relevant diagnostic subroutine described above is executed. The control unit 17 transmits the completion code of the "Diagnostics" command to the portable computer 25 over the serial channel. "Mr

A corresponding message appears on the screen of the latter. The CPU of the control unit 17 writes a code different from those used in the system into the command cell of the built-in RAM, and returns to the main control program of the self-propelled diagnostic robot 1. The CPU of the control unit 17 again extracts the command from the command cell of the built-in CPU RAM and begins to decipher it ,. "

If the command code does not correspond to the code of the "Diagnostics" command, that is, the CPU of the control unit 17 did not detect any active command code from c, the latter starts checking the state of the limit switch unit 6. At the same time

The CPU of the control unit 17 reads the state of the limit switch unit 6 and analyzes it. If the end upper switch ;" pantograph is in the "0" state, then the CPU of the control unit 17 executes the "Stop the pantograph" command described above, and if its state corresponds to the level of a logical unit, then the CPU of the control unit 17 analyzes the state of the final

Lower pantograph switch. If its state corresponds to the level of logical zero, the CPU of the control unit 17 executes the "Stop the pantograph" command described above, and if its state corresponds to the level of a logical one, then the CPU of the control unit 17 analyzes the state of the final left tower switch. If its state corresponds to the level of logic zero, then the CPU of the control unit 17 executes the "Stop the tower" command described above, and if its state corresponds to

Go! level of the logical unit, then the CPU of the control unit 17 analyzes the state of the end right switch of the tower. If its 5or btan corresponds to the level of logical zero, then the CPU of the control unit 17 also executes the command "Stop the tower" described above, and if its state corresponds to the level of a logical one, then the CPU of the control unit 17 analyzes the state of the end sp upper switch of the camera. If its state corresponds to a logical zero level, then the CPU of the control unit 17 executes the "Stop camera" command described above, and if its state corresponds to a logical one level, then the CPU of the control unit 17 analyzes the state of the bottom bottom switch of the camera. If its state corresponds to the level of logic zero, then the CPU of the control unit 17 also executes the "Stop the camera" command, and if its state is equal to the level of a logical unit, then the CPU of the control unit 17 proceeds to the specified values of supply voltages and currents, which

Ф) are consumed by the self-propelled diagnostic robot 1. At the same time, the CPU of the control unit 17 determines the values of the supply voltages: и58, -158, -128, - 158, which are supplied through voltage dividers to the inputs of the multi-channel analog-to-digital converter built into the CPU of the control unit 17 ( ADC), the control unit 17 sequentially 6o outputs binary codes 0001-1010 to the KZ-KO bus, respectively. At the same time, the voltage removed from the current sensors

K1 - K10 is connected in series to the input Oatsp of the control unit 17. The operation of the control device 16 when removing the voltages from the current sensors K1 - K1O0 is described above. The CPU of the control unit 17 sequentially measures the currents consumed by the self-propelled diagnostic robot 1. The measured values of supply voltages, currents consumed by the diagnostic robot 1 and the values of the slope of the pipeline taken from the slope sensor 7 65 are stored in the specified cells of the RAM of the control unit 17 built into the CPU and are transmitted via a serial channel to the personal computer 25. These values appear on the screen of the latter. The CPU of the control unit 17 again extracts the command from the command cell of the RAM built into the CPU and begins to decipher it.

The above-described algorithm for reading commands from the RAM of the control unit 17 and their decoding is carried out by the self-propelled diagnostic robot 1 continuously until it is turned off by the operator.

In the interior of the laboratory there is a device for controlling, powering and visualizing information from the diagnostic robot 2. The battery pack 7 powers the portable computer 25, the power supply unit of the diagnostic robot 26, the character generator 29, the VCR ZO. The television is powered by its power supply unit 28. The image focused by the zoom lens C enters the device with the charge connection of the video frame 4, where it is converted into an electrical signal, amplified by the video amplifier 5 and through the cable 32 enters the first 70 input of the signal generator 28, where it is combined with the signal path sensor 24. The total video signal from the output of the signal generator 29 is supplied to the first inputs of the VCR Z0 and the TV 31, the signal from the output of which for synchronization of the signal generator 29 is supplied to the second input of the latter. The VCR ZO stores the video signal on magnetic tape, and it is visualized on the TV 31.

Compilation of the signals coming from the path sensor 24 with the signal taken from the video camera 4 makes it possible to map the section of the inner surface of the pipeline, which is diagnosed with the distance from the point of the beginning of the diagnosis. The signal from the path sensor 24 together with the image of the inner surface of the pipeline is visualized on the color TV screen 31 | is recorded on the VCR tape 30

On the screen of the portable computer 25, the menu of commands of the self-propelled diagnostic robot 1 is displayed and the parameters of its state and the course of commands are visualized. The necessary command, depending on the specific situation inside the pipeline, is selected by the operator from the given menu using the keyboard or "Mouse" included in portable computer kit 25 Communication of self-propelled diagnostic robot 1 and portable computer 25 is carried out through a serial port, which is also a component of portable computer 25

For communication, standard, customized signals of the serial channel TxO and ECHO are used. Commands for controlling the self-propelled diagnostic robot 1 are transmitted in serial code by the THYO signal, and by the ECHO signal the portable computer 25 receives from the latter the parameters of its state and the progress of their execution.

The power supply unit of the diagnostic robot 26 stabilizes the power supply voltage of 427 V, which is used in i) diagnostic robot 1, excluding the influence of the voltage drop on the cable 32 depending on the change in the load of the self-propelled diagnostic robot 1.

The self-propelled diagnostic robot 1 with a device for controlling, powering and visualizing the received information 2 is connected by a stranded cable 32 wound on a cantilever winch Z5, behind which on one axis there is a winch with a wound safety cable Zb, the other end of which is connected to the self-propelled by the diagnostic robot 1. Each winch is supplied with a ratchet mechanism Supply of supply voltages and control signals from the power control device and visualization of the received information 2 to the self-propelled diagnostic robot 1, as well as receiving a video image of the measured parameters from the latter to the control device, power supply and visualization of the received information 2 is carried out using a multi-channel electric collector 38 built into the cable winch 35 "E. The cable winch 35 is supplied with a manual pantographic stacker for ease of use. To feed the cable and safety rope into the pipeline, the winch 34 is supplied with the block 33.

Currently, an experimental sample of the proposed system has been made. Its tests "show great functionality, good maneuverability, ease of operation, quick location and nature of damage to pipelines, high reliability of the remote pipeline inspection system.

Claims (1)

;" The formula of the invention , Shchi , , , sho, and , System of teleinspection of pipelines, which contains a self-propelled diagnostic robot in a hermetic housing, composed of lighting devices, a video camera with a color image, placed in its main ("in the part, on the tower, optically connected to the zoom, its first input is connected to the power supply unit, the first o output - to the first input of the video amplifier, the second input of the latter is connected to the power supply unit, and the first output - to the cable, with connected to the first input and the first output of the power supply unit and the first input and the first output of the control unit, the second outputs of the color video camera and the video amplifier are connected to the first common wire, the second output of the control unit is connected to the zoom input, the second input is to the unit limit switches, the device for controlling, powering and visualizing the received information consists of a video recorder, the first input of which is connected to the first output of the battery block, and the second - to the output of the character generator and the first input of the color TV, the second input of which is connected to the output of the TV power supply unit, and the output is connected to the second input of the character generator, the third input of the latter is connected to the second (F) the output of the battery pack, the third output of which is connected to the first input of the portable computer, and the fourth - GI to the first input of the power supply unit of the diagnostic robot, the fourth input of the signal generator is connected to the input of the path sensor, the output of the latter is mechanically connected to the cable , the latter is connected to the second input and output of the portable computer, the second input and output of the power supply unit of the diagnostic robot, the built-in multi-channel electric collector of the winch, which is characterized by the fact that the winch contains a chassis on which winches are placed one after the other on one axis cable cantilever and cable winch, and a manual pantographic cable layer is installed in front of the cable winch, a tilt sensor is inserted into the self-propelled diagnostic robot, the output of which is connected to the third input of the control unit, and the input is to the power supply unit, pantograph, 65 installed on a self-propelled chassis and holding a tower and motors of a color image video camera, a tower and a pantograph, the first and second inputs of which are connected through resistors to the first and second outputs of the corresponding control units made on a bridge switching circuit, the first input of which is connected through a resistor to its second input, between it and the third input the first optocoupler is switched on, and the third input of the switching bridge circuit is connected to the first input of the transistor switch, between the input and output of which the second optocoupler is enabled, and the cathodes of the optocoupler diodes are connected to of the first common wire, the emitter of the transistor of the second optocoupler - to the second common wire, and the first and second outputs of the switching bridge circuit - to the armature windings of the motors of the tower, pantograph and color video camera, the second input of the switching bridge circuit and the inputs of the optocouplers with connected to the inputs, and the first and second outputs of the bridge switching circuit - with the outputs of the tower control units, the video camera of a color 70 image and the pantograph, the first inputs of the latter are connected to the power supply unit, and the second and third inputs are connected to the third, fourth, fifth, sixth, seventh and eighth outputs of the control unit, the third and fourth outputs - to the first and second common wires, respectively, the control unit for lighting devices contains a multivibrator with an adjustable pulse gap, the first input of which is connected to the collector of the transistor and the resistor, the first output - to the anode of the optocoupler diode, the collector of the last transistor /5 C' connected to the first input of the semiconductor relay and through a resistor to its second input, and the emitter of the transistor, the second output of the multivibrator with a tunable pulse gap, the cathode of the optocoupler diode are connected to the first common wire, and the emitter of the optocoupler transistor, the second output of the semiconductor relay - to the second common wire, the second multivibrato input ra with a tunable pulse gap, its first input through a resistor, the base of the transistor, the second input of the semiconductor relay 2o are inputs, and the first output of the semiconductor relay is the output of the lighting device control unit, which is connected by the first and second outputs to the series-connected lamps of the lighting devices, the first and second inputs - to the ninth, tenth outputs of the control unit, the third and fourth inputs - to the power supply unit, the third and fourth outputs - to the first and second common wires, respectively, port and starboard engines, the first, second, third and fourth the inputs of which are connected through a resistor to the first, second, third and fourth outputs of their control units, consisting of a bridge switching circuit, the first input of the transistor connected to the collector of the first optocoupler, through the resistor - to the second i) input and to of the second input of the semiconductor relay, which is connected through a resistor to its first input, which is connected to the collector of the transistor of the second optocoupler, the anode of the diode of the latter is connected to the first output of the multivibrator with a tunable pulse gap, its first input is connected to the collector of the transistor and a resistor, and the emitter of the transistor, the second output of the multivibrator with a tunable pulse gap, diode cathodes the first and second optocouplers are connected to the first common wire, the emitters of the optocoupler transistors, the output of the switching bridge circuit, the second output of the semiconductor SO relay - with the second common wire, the second input of the multivibrator with adjustable pulse spacing, its first input through the resistor, the base of the transistor, the anode of the diode of the first optocoupler, the second input of the semiconductor relay are the inputs, and the first output of the semiconductor relay, the second and third outputs of the bridge "E" switching circuit are the outputs of the port and starboard engine control units connected to the first and the second inputs to the power supply unit, the third, fourth and by the fifth inputs, respectively - to the eleventh, twelfth, thirteenth, fourteenth, fifteenth and sixteenth outputs of the control unit, a control device containing a multi-input multiplexer, connected by the eleventh, twelfth, thirteenth and fourteenth "inputs to the emitters of the transistors, respectively the first, second, third, fourth optocouplers, in the fifteenth its input is connected to the first output of the voltage stabilizer and the second input of the multivibrator with . adjustable pulse gap, the first input of which is connected through the first low-pass filter to the sixteenth input of the multi-input multiplexer, and its output through the fifth optocoupler - to the first input of the second low-pass filter and through a resistor - to the second input of the multivibrator with adjustable gap pulses, and the collectors of the transistors of the first, second, third and fourth optocouplers, their first input of the voltage stabilizer are connected to the power supply unit, the anodes of the first, second, third, and fourth optocouplers, the emitter of the transistor of the fifth optocoupler, the second output of the second low-pass filter is connected to the first common wire, and the emitters of the transistors of the first, second, third, fourth Go! optocouplers, the cathode of the diode of the fifth optocoupler, the second output of the voltage stabilizer and the second Output of the first low-pass filter, the output of the multi-input multiplexer - with the second common wire, 1 the first ten inputs of the multi-input multiplexer, the anodes of the diodes of the first, second, third and the fourth optocoupler connections, the first input of the voltage stabilizer are inputs, and the first output and the first input through the resistor of the second low-pass filter are the outputs of the control device connected by the first and second inputs to the power supply unit, the third, fourth, fifth, sixth inputs - to the seventeenth, eighteenth, nineteenth, twentieth outputs of the control unit, and the first output - to its fourth input, the seventh, eighth, ninth inputs - to the fourth outputs of the port engines, the tenth, eleventh and twelfth - to the fourth ( F, the outputs of the engines of the right side of the diagnostic robot, the thirteenth input - to the first output of the engine of the color image video camera, the fourteenth them - to the lighting devices, the fifteenth - to the second terminals of the pantograph motor, and the sixteenth - to the second terminals of the tower motor, the second and third outputs - to the first and second common wires, respectively. Official bulletin "Industrial Property". Book 1 "Inventions, useful models, topographies of integrated microcircuits", 2002, M 12, 15.12.2002. State Department of Intellectual Property of the Ministry of Education and Science of Ukraine. b5